AT523873B1 - Picking station and method for automatically picking goods - Google Patents

Abstract

The invention relates to a picking station for picking goods from source containers (5a) into target containers. The picking station includes a gantry robot, at least one removal station (27a, 27b) and at least one loading station (37a, 37b). The portal robot comprises a base frame (71), a first portal slide that can be moved horizontally in a first direction (x), a second portal slide (77) that can be moved horizontally in a second direction (y) transverse to the first direction (x), a third direction (z) vertically movable third portal carriage, and a first, vertical axis of rotation (Da1) rotatably mounted portal arm. In addition, the portal robot comprises a gripper mount rotatably mounted on the portal arm about the second, horizontal axis of rotation, and a movable gripper unit rotatably mounted about the first, vertical axis of rotation, which is attached to the gripper mount.

Description

description

PICKING STATION FOR AUTOMATIC PICKING OF GOODS

The invention relates to a picking station for picking goods from source containers into target containers, with a fully automated robot system which includes a gantry robot.

[0002] WO 2016/138101 A1 discloses fully automated picking with a robot, in which a list for position data of the goods (“pick list of location data of items”) is created in the scanned source container. The goods withdrawal is based on the position data of the goods in the source container. The goods are taken from this "pick list" one after the other until the source container is completely empty. Several withdrawals of goods can be made without having to capture the image again. What remains unnoticed, however, is that goods can slip between the individual goods removals and in the next gripping process it cannot be ensured that the goods can be gripped correctly or at all. This is associated with numerous faults and low picking performance.

[0003] A picking station for fully automated picking of different goods with a single robot is also known from EP 2 984 007 B1 and EP 2 315 714 B1. Orders can therefore only be processed sequentially, which means that the picking performance (picking performance) of the picking station is rather low.

An order-picking station is known from US Pat. No. 9,751,693 B1, in which several robots are moved relative to source containers provided one behind the other on a conveyor device. Each robot is equipped with a gripping unit. The goods are removed from the source containers and placed on a storage rack.

[0005] In addition, a manual picking station is known from WO 2018/006112 A1.

[0006] Embodiments of at least partially automated picking stations are known from EP 3 248 915 A1 and WO 2015/118171 A1.

A portal robot of the type mentioned is also known in principle, for example from WO 2009/094995 A1, EP 0 616 874 A1, JP 2003-181786 A, JP 2018-015815 A, CN 206066477 U, CN 205552559 U, CN 202640363 U, CN 201711969 U, DE 44 07 324 A1 or EP 0 629 573 A1. However, the known designs of gantry robots are not suitable, or only inadequately so, for picking goods.

It is therefore an object of the invention to provide an improved picking station for picking goods from source containers into target containers. In particular, the disadvantages indicated above are to be overcome and a high picking performance is to be achieved. In particular, the order-picking process should be able to be carried out particularly reliably, so that hardly any disruptions should occur.

The object of the invention is achieved in that the picking station has a portal robot, at least one removal station at which a source container is provided, and at least one loading station at which a target container is provided, with the portal robot having a base frame (which in particular vertical uprights, longitudinal beams and crossbeams connected to one another), a first portal carriage which is movably mounted relative to the base frame and can be moved horizontally in a first direction (x-direction) along a first guide arrangement via a first drive device, a first gantry slide which is movably mounted on the first portal carriage and has a second drive device along a second guide arrangement in a second direction (y-direction) running transversely to the first direction, and a second gantry slide that is displaceably mounted on the second gantry slide and has a third drive device talong a third guide arrangement in a third direction (z-direction) vertically movable third portal carriage.

In addition, the picking station for picking goods from source containers in target containers with

- Comprehensively a source container conveyor technology for the automated transport of source containers

a first conveyor device for transporting source containers,

a first transfer device for transporting a first source container from the first conveyor device to a first delivery device,

a second transfer device for transporting a second source container from the first conveyor device to a second delivery device,

a first delivery device with a first removal location, at which a first source container is provided and which is connected to the first conveyor device by the first transfer device,

a second delivery device with a second removal location, at which a second source container is provided and which is connected to the first conveyor device by the second transfer device,

a second conveyor device for transporting the source containers away from the first delivery device and second delivery device,

- Comprehensively a target container conveyor technology for the automated transport of target containers

a first conveyor device for transporting target containers,

a first transfer device for transporting a first target container from the first conveyor device to a first delivery device,

a second transfer device for transporting a second target container from the first conveyor device to a second delivery device,

a first delivery device with a first loading station, at which a first target container is provided and which is connected to the first conveyor device by the first transfer device in terms of conveyor technology,

a second delivery device with a second loading station, at which a second target container is provided and which is connected to the first conveyor device by the second transfer device,

a second conveyor device for transporting the target containers away from the first delivery device and second delivery device,

- comprising a fully automated robot system

a robot with a gripping unit that can be moved relative to a robot base and is designed to remove goods for different orders from the first source container and/or second source container and place them in the first target container and/or second target container,

a sensor system, in particular a camera system, at least for detecting the goods in the first source container and second source container,

a robot controller that is connected to the sensor system and controls the robot with the gripper unit,

be trained, whereby

the first delivery device with the first removal location and the second delivery device with the second removal location are arranged along the second conveyor device for the removal of source containers,

the first delivery device with the first loading place and the second delivery device with the second loading place are arranged along the second conveyor device for transporting away target containers, and

the first delivery device with the first removal location and the first delivery device with the first loading location are opposite one another,

the second service device with the second removal location and the second service device with the second loading location are opposite one another, and

the second conveyor device for removing source containers and the second conveyor device for removing target containers are arranged in parallel.

The advantage here is that the source container and target container for a first order or the source container and target container for a second order can each be provided next to each other and thus the movements of the robot / the gripping unit can be made particularly short. The robot and the gripping unit can be moved along simple trajectories.

In particular, the robot defines a working area within which the gripping unit is moved. The workspace is a three-dimensional space. It is therefore also referred to as a workroom. The work area can form a rectangular base area if the robot is designed as a gantry robot. The robot is preferably set up in a stationary manner.

The working area of the robot is designed such that it includes the first delivery device with the first removal station, second delivery device with the second removal station, first delivery device with the first loading station and second delivery device with the second loading station. In this context, the term “includes” is to be understood such that the working area is adjacent to a serving level of the first/second serving device or a serving level of the first/second serving device intersects the working area.

Are the first source container at the first removal location, the second source container at the second removal location, the first target container at the first loading location and/or the second target container at the second loading location, these are provided within the work area.

In other words, the robot system can merely comprise a single robot which can access more than one source container, in particular the first source container and second source container, and more than one target container, in particular the first target container and second target container.

There are hardly any time-consuming pivoting movements of the robot and the gripping unit required. In this way, not only can the number of goods removed from a source container and goods delivered to a target container be significantly increased, but the number of goods falling down from the gripping unit can also be reduced to a maximum. Overall, the picking performance can be increased compared to the picking stations known from the prior art. In addition, there is also a very compact construction of the picking station. In particular, such an automatic picking station can easily be implemented in an existing storage and picking system with a manual picking station.

Such a manual picking station is described in WO 2018/006112 A1. As can be seen, the manual picking station is also connected to a source container conveyor for transporting source containers to the picking station and for transporting source containers away from the picking station, and to a target container conveyor for transporting target containers to the picking station and for transporting target containers away from the picking station. It is only necessary to replace the source container conveyor technology and the target container conveyor technology in the picking station and to supplement the robot system.

According to the invention, the gantry robot comprises a coupled to the third gantry carriage and rotatably mounted about a first axis of rotation and via a fourth drive device

movable gripping unit.

According to the invention, the picking station has a fully automated robot system, which includes a portal robot of the type mentioned above, and at least one removal station at which a source container is provided, and at least one loading station at which a target container is provided.

In this way, small goods in particular, which are kept in source containers for better storage and transport, can be brought into the movement range of the gantry robot. In principle, however, it would also be conceivable for the goods to be picked to be made available directly (that is to say without source containers and target containers) at the picking point and loading point.

In particular, the first axis of rotation can be aligned horizontally, whereby the gripping unit can be easily moved into an advantageous gripping pose for gripping goods, for example when the goods to be gripped are formed by a box lying obliquely in a source container.

It would also be conceivable that the first axis of rotation is aligned vertically, whereby the gripping unit can also be moved well into an advantageous gripping pose for gripping goods. This is particularly advantageous when the gripping unit is not constructed (rotationally) symmetrically when viewed from below.

A particular advantage of the gantry robot is that the drive forces at the same speed of movement with an increase in the effective range (i.e. the range that the robot can reach with its gripping unit) increase less than is the case with an articulated arm robot. The reason for this is that linear mass inertia is the main factor in gantry robots, whereas mass moments of inertia play a role in articulated arm robots and the drive forces increase more than linearly when the effective range is increased. The mass inertia of the gantry slide of a gantry robot advantageously does not change at all when the first direction (x-direction) is lengthened. The use of a gantry robot is therefore particularly advantageous when particularly large loading aids or a particularly large number of loading aids are to be accessed by the gantry robot at the same time, as is often required or necessary in complex picking processes. This is the case, for example, with the picking station presented above with two removal locations for source containers and two loading locations for target containers.

If, on the other hand, the articulated-arm robot is not enlarged in accordance with the increased effective range, in order not to excessively increase the driving forces, then it must be expected under certain circumstances that "shadow areas" will occur, i.e. areas will arise that the articulated-arm robot cannot reach. This problem arises in particular when picking with the help of (source) containers and / or (destination) containers, since the outermost arm segment of the articulated arm robot cannot be inserted vertically into a container due to the height of the containers mentioned, which is from the central axis of rotation of the articulated robot is further away. The above-mentioned shadow areas then result from the inclined arm segment. Goods that are stored in the (source) container in these areas cannot be picked up as a result. In addition, the goods cannot be placed in a (destination) container in these areas. This is then filled on one side in an unfavorable way. These problems are advantageously avoided by using a portal robot.

Advantageously, there are also no singularities in gantry robots, as is the case with articulated arm robots, ie points in space that can be reached by several (possibly an infinite number of) axis positions. The path control for the portal robot can therefore be constructed more simply.

The gantry robot can be used particularly advantageously in an embodiment of the picking station according to claim 1. The first source container, second source container, first target container and second target

containers can be easily reached, even if they are provided in the corners of an (imaginary) rectangle.

At this point it is noted that the presented gantry robot or the robot system comprising the gantry robot can also be independent of a special configuration of a picking station and can thus form the basis for an independent invention.

A particularly simple configuration of the picking station is obtained when the first delivery device with the first removal location and the second delivery device with the second removal location on the second conveyor device are designed for the removal of source containers. Likewise, the first delivery device with the first loading place and the second delivery device with the second loading place can be configured on the second conveyor device for removing target containers.

According to a further development of the invention, the second conveyor device for removing source containers and the second conveyor device for removing target containers are arranged at a maximum distance of 400 mm and in parallel. In practice, a distance between 150 mm and 250 mm has proven to be particularly favorable. This prevents the source containers and target containers from interfering with each other, but reduces the movements of the robot and the gripper unit for picking goods to a minimum. This achieves maximum picking performance.

In an advantageous embodiment of the invention, the first delivery device with the first removal station and the first delivery device with the first loading station each form a delivery level at the same height level. Likewise, the second service device with the second removal station and the second service device with the second loading station can each form a service level at the same level. This allows the first source container/first destination container and second source container/second destination container to be provided at the same height level, which simplifies the removal of the goods from the first/second source container and the delivery of the goods into the first/second destination container.

It is advantageous if a buffer device is provided with at least one buffer space between the first service device with the first removal location and the second service device with the second removal location, at which a second source container can be buffered after picking. A buffer device with at least one buffer location can also be provided between the first service device with the first loading station and the second service device with the second loading station, at which a second target container can be buffered after picking. On the one hand, this enables the second source container to be removed immediately after the order line has been processed and no further goods from the second source container mentioned are required for this order, and on the other hand, the second target container can be removed immediately after the order line has been processed and no further goods are in the mentioned second target container is required for this order. This achieves a high conveying capacity on the source container conveyor technology and target container conveyor technology.

It also proves to be particularly advantageous if

- Above the second conveyor device for removing source containers and the second conveyor device for removing target containers between the first delivery device with the first removal location and the first delivery device with the first loading location, a storage plate which has a first access opening above the first removal location and a second access opening above the first Has loading space, and

- Above the second conveyor device for removing source containers and the second conveyor device for removing target containers between the second delivery device with the second removal location and the second delivery device with the second loading location, a storage plate which has a first access opening above the first removal

meplatzes and a second access opening above the first loading station are arranged.

The respective storage plate can be formed by a horizontally or obliquely aligned storage surface and by a pivotable flap and can be arranged between the first source container/first target container or second source container/second target container, but also around the first source container/first Target container or second source container / second target container. In particular, the flap can be motor-driven or actuated by the robot. With the aid of a storage area, which is designed in the form of an inclined plane, goods that have fallen from the gripping unit can be automatically conveyed into the first source container/first target container or second source container/second target container. With the aid of a flap, goods that have fallen from the gripping unit can be conveyed to the first source container/first target container or second source container/second target container.

It also proves to be beneficial if

- Above the second conveyor device for the removal of source containers between the first service device with the first removal location and the second delivery device with the second removal location, a storage tray, and

- Above the second conveyor device for the removal of target containers between the first delivery device with the first loading place and the second delivery device with the second loading place, a storage plate is arranged.

According to the procedural measure it is provided that after the removal of a product by the gripping unit from one of the first and second source container according to step g) or steps ])

- a check is made as to whether goods have fallen from the gripping unit and are located on a shelf which is arranged above the second conveyor devices between the first source container and the first target container and between the second source container and the second target container, and

- the goods located on the shelf are picked up by the gripping unit and in - the first source container, or

- second source container, or

- first target container, or

- second target container

is discarded.

In this way it can be prevented that goods that have accidentally fallen off the gripping unit fall onto the second conveyor devices or first/second service devices. Instead, the goods fall onto the shelf. The goods can be picked up from this storage plate with the gripping unit and placed either in the first/second source container or in the intended first/second target container.

According to this embodiment

- above the second conveying devices between the first source container and the first destination container, a first depositing plate (in Fig. 2, 66a), and

- above the second conveying devices between the second source container and the second destination container, a second storage plate (in Fig. 2, 66b) is provided.

It may also prove advantageous if in addition

- above the second conveying devices between the first source container and second source container, a third storage plate (in Fig. 1, 660),

- above the second conveyor devices between the first target container and second target container, a fourth storage plate (in Fig. 1, 66d) are provided.

It is particularly advantageous that the problem that has occurred can be remedied by the robot system itself, which means that intervention by an operator is superfluous.

It is favorable if the picking station is connected to a sorting buffer, which is controlled by a control unit and by means of which the target containers in the sorting buffer are sorted into an order that depends on the order in which the source containers are at the first removal location and second removal location are provided is determined. The destination bins are sorted in and by the sorting buffer into an order determined by the order of the source bins. The advantage is that the requirement for the sequence in which the source containers are transported to the first removal location and second removal location on the source container conveyor system (see Fig. 1 conveyor device 12) is low and thus a high retrieval performance in the storage area is achieved. The picking station can be supplied with source containers essentially without interruption.

In an advantageous embodiment of the invention, the sorting buffer comprises buffer locations arranged one behind the other in a delivery direction on a first conveyor device and sorting locations arranged one behind the other in a return direction on a second conveyor device and third conveyor devices connecting the sorting locations to the buffer locations in terms of conveying technology,

wherein the first conveying device of the sorting buffer is connected to the first conveying device for transporting the target containers and the second conveying device of the sorting buffer is connected to the second conveying device for transporting away the target containers, and

wherein the first conveying device has at least one conveying means for transporting the target containers and the second conveying device has at least one conveying means for transporting the target containers, and

wherein the buffer locations and the sorting locations are assigned conveyors for transporting the target containers, and the control unit controls the conveyors selectively and in such a way that the target containers in the sorting buffer are sorted into an order that depends on the order in which the source containers are in the first removal location and second Entnahmegplatz are provided, is determined, and that a first / second source container and a first / second target container arrive at about the same time at the first / second removal station and first / second loading station for an order.

Another advantage is the procedural measure in which

- the source containers are removed from a storage area for the orders and made available at the first removal location and second removal location in any order,

- Wherein the sequence of the source containers, in which the source containers are transported to the first removal location and second removal location, is recorded, and

- where the target containers in the sorting buffer are sorted into an order that is determined depending on the order in which the source containers are provided at the first removal location and second removal location, and that a first/second source container and a first/second target container belong to an order arrive at the first/second removal location and the first/second loading location at approximately the same time.

[0043] Although the source containers required for processing the order lines are supplied to the first removal location and second removal location in an unordered sequence, this sequence is recorded at a sequence determination point. The sequencing point is preferably along the source container conveyor for delivery

the source container, which connects to the first conveyor of the picking station, arranged. From the order determination point, the (chaotic) order remains unchanged. The destination bins in the sorting buffer determine which source bins need to be swapped out. The destination bins are sorted in and by the sorting buffer into an order determined by the (chaotic) order of the source bins.

According to an embodiment according to claim 10 or 11, the fully automated order picking of different goods from source containers to target containers can be carried out particularly efficiently. Such a picking method can include the following steps:

a) Entry of orders, each with one or more order lines, with each order line specifying at least one product according to its product type and the number of items ordered,

b) transport of a first source container for a first picking order and transport of a second source container for a second picking order on a first conveyor device and transport of the first source container from the first conveyor device to a first service device with a first removal location and transport of the second source container from the first conveyor device a second service device with a second removal station,

C) Provision of the first source container at the first removal location and provision of the second source container at the second removal location,

d) Transporting a first target container to a first delivery device with a first loading station and providing a first target container at the first loading station in order to process an order line for a first order,

e) transport of a second target container to a second delivery device with a second loading station and provision of a second target container at the second loading station in order to process an order line for a second order,

f) determination of a gripping surface pose of a gripping surface for at least one of the goods in the first source container using a sensor system after the first source container has been provided at the first removal location,

g) removal of the named goods from the first source container and depositing the named goods in the first target container by the gripping unit of the robot according to the first order,

h) repeating step f) if the order line for the first order again contains a product of this type of product, renewed removal of the named product from the first source container and placement of the named product in the first target container by the gripper unit of the robot

i) determination of a gripping surface pose of a gripping surface for at least one of the goods in the second source container using a sensor system after the second source container has been provided at the second removal location,

) removal of said goods from the second source container and depositing said goods in the second target container by the gripping unit of the robot according to the second order,

k) Repeat step I) if the order line for the second order again contains a product of this product type, renewed removal of the named product from the second source container and placement of the named product in the second target container by the gripper unit of the robot,

) Removal of the first source container after processing the order line for the first order from the first removal location and removal of the second source container after processing the order line for the second order from the second removal location independently of one another by a second conveyor device,

m) removal of the first target container after processing the order line for the first order from the first loading station and removal of the second target container after processing the order line for the second order from the second loading station independently of one another by a second conveyor device.

It is advantageous that a gripping surface pose of a gripping surface for at least one of the goods in the source container is determined with the aid of a sensor system before each (repeated) removal of a product from the first source container/second source container. A gripping pose for the movable gripping unit can be calculated from the determined gripping surface pose. The gripping unit is moved into the calculated gripping pose and the gripping unit that is or will be in contact with the gripping surface of the goods, for example at least one suction gripper, is activated in order to pick up the goods. In this way, shifting of goods in the first source container/second source container is recorded after goods have been removed and an optimized gripping surface pose is always determined and the gripping unit is moved based on an optimized gripping pose. This reduces "mistakes" to a minimum and the goods are optimally picked up or gripped by the gripper unit.

[0046] In addition, these procedural measures can be advantageous in connection with the described automatic error correction by the robot/gripping unit. This is described using the following example. If, after goods have been removed, the gripping unit loses a product it has picked up and falls back into the source container and/or if a product it has picked up is lost on the movement from the source container to the target container and is "caught" on the storage plate and placed back in the source container, a changed gripping surface pose of a gripping surface for at least one other product in the source container. Accordingly, an updated gripping pose for the gripping unit is calculated. This is also a measure in which the "mistakes" can be reduced to a minimum.

An advantageous measure is when the first job with steps f) to h) and the second job with steps i) to k) are processed sequentially by the robot.

Step I) can be carried out after the order line for the first order has been processed during the movement of the robot/gripping unit from the first target container to the second source container. Likewise, step f) can be carried out after processing the order line for the second order during the movement of the robot/gripping unit from the second target container to the first source container.

The order line for a first order or second order is processed completely for the time being. In this context, "complete" means that all goods must have been placed in the respective first target container / second target container in order to fulfill this order line.

[0050] For example, the order line for a first order is completely processed. Only then is step I) carried out and a gripping surface pose of a gripping surface for at least one product in the second source container is determined. For this reason, the said gripping surface pose is only determined just before a planned removal of goods from the second source container. The order line is then processed into a second order and completely processed. Step f) is then carried out and a gripping surface pose of a gripping surface is determined for at least one product in the first source container. For this reason, the said gripping surface pose is only determined just before a planned removal of goods from the first source container.

[0051] This is particularly advantageous since vibrations occur during the processing of the order line for a first order by the robot/gripping unit and the goods can slip in the second source container. If, as in the prior art, the gripping surface pose of a gripping surface for at least one product in the second source container were to take place while the goods were being removed from the first source container and the named goods were being placed in the target container, an increasing number of “mistakes” can be expected.

It also proves to be advantageous if step f) during the processing of the order line for the first order according to steps g) and h) and step i) during the processing

the order line to the second order can be carried out according to steps ]) and k).

It also proves to be advantageous if the first order with steps g) and h) and the second order with steps j) and k) are processed sequentially by the robot.

It is also advantageous if the first source container and second source container are returned to a storage area independently of one another after the goods have been picked according to steps g) and h) and steps j) and k), provided that after the goods have been removed, goods are in the first Source container and second source container remain.

It is also advantageous if the first target container and the second target container are transported independently of one another into a sorting buffer after the goods have been picked according to steps g) and h) and steps j) and k), provided that the order lines for the first order and for the different order lines are to be processed in the second order.

The method can also include the following steps:

a) Entry of orders, each with one or more order lines, with each order line specifying at least one product according to its product type and the number of items ordered,

b) Transport of a first source container for processing an order line for a first order to a first delivery device with a first removal location and transport of a second source container for processing an order line for a second order to a second delivery device with a second removal location with an automated source container conveyor system , whereby the source containers store different goods,

C) Provision of the first source container at the first removal location and provision of the second source container at the second removal location,

d) transport of a first target container to a first delivery device with a first loading station with an automated target container conveyor system and provision of a first target container at the first loading station in order to process an order line for the first order,

e) Transport of a second target container to a second delivery device with a second loading station with an automated target container conveyor system and provision of a second target container at the second loading station in order to process an order line for a second order,

f) determination of a gripping surface pose of a gripping surface for at least one of the goods in the first source container using a sensor system after the first source container has been provided at the first removal location, and calculation of a gripping pose for the gripping unit from the determined gripping surface pose by a robot controller,

g) removal of the named goods from the first source container and depositing the named goods in the first target container by the gripper unit of the robot to an order line of the first order,

h) repeating step f) if the order line for the first order again contains goods of this type of goods, renewed removal of said goods from the first source container and placement of said goods in the first target container by the gripping unit of the robot,

i) determination of a gripping surface pose of a gripping surface for at least one of the goods in the second source container using a sensor system after the second source container has been provided at the second removal location, and calculation of a gripping pose for the gripping unit from the determined gripping surface pose by a robot controller,

) Removal of said goods from the second source container) and depositing said goods in the second target container by the gripper unit of the robot to an order line

of the second order

k) Repeat step I) if the order line for the second order again contains a product of this product type, renewed removal of the named product from the second source container and placement of the named product in the second target container by the gripper unit of the robot,

) Removal of the first source container after processing the order line for the first order from the first removal location and removal of the second source container after processing the order line for the second order from the second removal location independently of one another by the target container conveyor system.

The advantages resulting from these process steps result from what has been said above.

It proves to be advantageous if the removal of the first target container after processing the order line for the first order from the first loading station and removal of the second target container after processing the order line for the second order from the second loading station independently of one another by a through the target container conveyor technology. The first target container is removed from the first loading station after the (complete) processing of an order line, as is the second target container after the (complete) processing of an order line from the second loading station. The target containers versus orders thus change very dynamically, so that a large number of target containers can be accessed in a very short period of time.

However, a measure is also advantageous according to which the steps are also carried out for further processing of the first order with a next order line and/or second order with a next order line:

m) Transport of a third source container for processing the next order line for the first order to the first delivery device with the first removal location and/or transport of a fourth source container for processing the next order line for the second order to the second delivery device with the second removal location using the automated source container conveyor technology , whereby the source containers store different goods,

n) Preparing the first target container at the first loading point while the third source container is being transported in order to process the next order line for the first order, and/or providing the second target container at the second loading point while the fourth source container (5g) is being transported in order to to process the next order line for the second order,

0) determination of a gripping surface pose of a gripping surface for at least one of the goods (H) in the third source container using a sensor system after the third source container has been provided at the first removal location, and calculation of a gripping pose for the gripping unit from the determined gripping surface pose by a robot controller,

p) removal of the named goods from the third source container and depositing the named goods in the first target container by the gripping unit of the robot to the next order line of the first order,

q) repetition of step o) if the next order line for the first order again contains a product of this product type, renewed removal of the named product from the third source container and placement of the named product in the first target container by the gripping unit of the robot,

r) and/or determination of a gripping surface pose of a gripping surface for at least one of the goods in the fourth source container using a sensor system after the fourth source container has been provided at the second removal location, and calculation of a gripping pose for the gripping unit from the determined gripping surface pose by a robot controller,

s) and/or removal of said goods from the fourth source container and depositing the

named goods in the second target container through the gripping unit of the robot to the next order line of the first order,

t) repeating step r) if the next order line for the second order again contains goods of this type of goods, renewed removal of said goods from the fourth source container and placement of said goods in the second target container by the gripping unit of the robot,

u) Removal of the first target container after processing the order lines for the first order from the first loading station and/or removal of the second target container after processing the order lines for the second order from the second loading station independently of one another by a through the target container conveyor system.

According to this embodiment, the first target container and/or second target container is not transported away from the first loading station/second loading station after each (complete) processing of an order line for an order comprising several order lines. It is possible that all order lines of an order are processed before the first target container and/or second target container is/are transported away from the first loading point/second loading point. Even if this is not necessarily to be understood, the sorting buffer described above can be omitted in this embodiment, since the source containers are made available in the appropriate sequence at the first removal location and second removal location depending on the first target container to be processed and/or second target container.

First, the order line for a first order or second order is completely processed. In this context, "complete" means that all goods must have been placed in the respective first target container / second target container in order to fulfill this order line.

[0062] For example, the order line for a first order is completely processed. Only then is step r) carried out and a gripping surface pose of a gripping surface for at least one product in the fourth source container is determined. For this reason, the said gripping surface pose is only determined shortly before a planned removal of goods from the fourth source container. The order line is then processed into a second order and completely processed. Step o) is then carried out and a gripping surface pose of a gripping surface is determined for at least one product in the third source container. For this reason, the specified gripping surface pose is only determined just before a planned removal of goods from the third source container.

In a particularly advantageous embodiment variant, the gantry robot comprises a gantry arm which is mounted on the third gantry carriage so that it can rotate about a first, vertical axis of rotation and can be moved via the fourth drive device, with the gripping unit on the gantry arm being mounted so that it can rotate about a second, horizontal axis of rotation and can be moved via a fifth drive device is. This combines the advantages of a vertical axis of rotation and a horizontal axis of rotation. As a result, the gripping unit can be moved particularly well into an advantageous gripping pose. It is particularly advantageous if the portal arm can be rotated about a vertical axis, preferably by 360° (and in particular endlessly) and is height-adjustable in the vertical direction. The portal arm can be moved in a vertical direction onto a bottom of a (source) container or (destination) container, and the gripping unit can optionally be rotated into an angular position in order to remove goods from a (source) container and/or in a (destination) container. The optimal gripping pose can thus be achieved by the portal arm remaining in its vertical position while the gripping unit is pivoted relative to the portal arm. In other words, and this is particularly advantageous, the gantry arm is only rotated about the vertical direction (preferably 360°) relative to the third gantry carriage, but not inclined relative to the vertical axis. As a result, the portal arm and the gripping unit can “dip” into a (source) container and/or (destination) container very close to a side wall. This means that goods in the edge area can also be removed from a (source) container, which are otherwise very difficult to grasp. For example, goods that are leaning against a container wall can also be gripped, i.e. goods that are in the edge area and have a gripping surface that is aligned inclined relative to the horizontal. The same applies if

goods are to be delivered to a (destination) container in the edge area.

In a further advantageous embodiment of the portal robot, it comprises a gripper receptacle which is mounted on the portal arm so as to be rotatable about the second, horizontal axis of rotation and on which the gripping unit is fastened. The gripper mount allows different types of gripper units to be attached to the gantry robot, with the gripper units being adapted to different gripping tasks.

It is also particularly advantageous if the portal arm has a side wall that is set back compared to a maximum cross-sectional contour, which extends from the lower end in the direction of the upper end and forms a substantially flat boundary surface. Due to the recessed boundary surface of the portal arm, it can be immersed in a container particularly close to a container wall.

The gripping unit advantageously comprises a vacuum suction gripper, which forms a gripping surface, or a plurality of vacuum suction grippers, which form a gripping surface. In particular, the gripping unit can include three vacuum suction grippers, which form a gripping plane.

Because of the redundancy of the gripping means (ie because of the redundancy of the vacuum suction pads), goods can be gripped by the gripping unit with a particularly low error rate. That is, a number of failed handlings of goods in relation to a total number of handlings of these goods is small. With the proposed measures, a gripping surface when gripping a product can be brought into good agreement with an interface of the product. This means that the gripping surface comes into contact with the goods to be gripped.

It is particularly advantageous in this context if the gripping unit comprises three vacuum suction pads arranged in a triangle and at least one of the sides of a triangle, at the corners of which are the centers of the vacuum suction pads, essentially parallel to a flat, vertical boundary surface of the portal arm is aligned. The vacuum suction grippers arranged in a triangle make it possible in particular to grip goods that have a flat boundary surface or several such boundary surfaces, for example boxes. Due to the at least one vertical delimiting surface of the portal arm aligned to one of the sides of the triangle, it can again be immersed in a container particularly close to a container wall. In particular, the portal arm can have a round (circular) cross section, which is flattened in the area of the vertical boundary surface mentioned. However, it would also be conceivable for the portal arm to have a polygonal cross section (in particular a rectangular cross section or a triangular cross section). Said essentially vertical boundary surface is then formed by a side surface of a polygonal prism.

In the above context, it is also particularly advantageous for an order-picking station if it has a source container arranged on the at least one removal location and/or a target container arranged on the at least one loading location, with an immersion height that extends from the upper end of said measured from a flat, vertical boundary surface of the portal arm to the lower end of the gripping unit, is greater than 1.1 times the container height of the source container and/or the target container. As a result, the gripping unit can also be immersed in the area of the container wall down to the bottom of the container.

It is also particularly advantageous if the picking station has at least one container drive

- for rotating the at least one removal station (including a source container provided thereon) and the at least one loading station (including a target container provided thereon) relative to the base frame of the portal robot about a vertical axis of rotation and/or

- For tilting the at least one removal location (including a source container provided thereon) and the at least one loading location (including a provided on it-

th target container) relative to the base frame of the portal robot about a horizontal axis of rotation.

As a result, the gripping unit can also be moved into an advantageous gripping pose for gripping goods, but by rotating the source container and/or target container relative to the portal robot. If the source container and the target container can be rotated about a vertical axis of rotation, then the gripping unit does not need to be mounted so that it can rotate about a vertical axis of rotation relative to the third portal carriage. Likewise, the gripping unit does not need to be mounted such that it can rotate about a horizontal axis of rotation relative to the third portal carriage if the source container and the target container can be tilted about a horizontal axis of rotation.

It is also favorable if a source container conveyor system for the automated transport of source containers and a target container conveyor system for the automated transport of target containers is provided for the picking station, wherein

- the source container conveyor system has a first delivery device, which includes a first removal location, and in a further special embodiment has a second delivery device, which includes a second removal location, and

- the target container conveyor system has a first delivery device, which includes a first loading station, and in a further special embodiment has a second delivery device, which includes a second loading station.

In this way, the source container and target container can be automatically brought into the range of action of the portal robot. In particular, the source container conveyor system and/or the target container conveyor system is designed as described above.

In a further advantageous embodiment variant, the fully automated robot system comprises a sensor system, in particular a camera system, at least for detecting the goods in the first source container and optionally in the second source container, if a second service device is provided, and a robot controller which is connected to the sensor system and controls the robot with the gripper unit. In this way, the picking process can run fully automatically. In particular, the proposed measures also make it possible to correct any errors that may occur during order picking.

For a better understanding of the invention, it is explained in more detail with reference to the following figures.

In each case, in a highly simplified, schematic representation:

[0077] FIG. 1 shows a section of a storage and order-picking system with a storage area and a number of order-picking stations;

[0078] FIG. 2 shows a picking station for the automated picking of goods and a section of a source container distribution system and a target container distribution system, in a perspective view;

3 shows a source container conveyor system and target container conveyor system of the picking station and a section of a source container distribution system and a target container distribution system, in plan view;

[0080] FIG. 4 a source container conveyor system and target container conveyor system of the picking station, in plan view;

[0081] FIGS. 5a to 5m show a sequence of method steps for processing a number of orders and providing the source containers and target containers at the picking station according to a first embodiment, in top view;

[0082] FIGS. 6a to 6e show a sequence of method steps for processing a number of orders and providing the source container and destination

holder at the picking station according to a second embodiment, in plan view;

7 shows a combination of a picking station with automatic picking and a picking station with manual picking;

[0084] FIG. 8 shows an order-picking station with a portal robot, at which a source container is provided, seen obliquely from the front;

[0085] FIG. 9 shows the picking station from FIG. 8 seen obliquely from behind;

[0086] FIG. 10 shows the portal robot from FIG. 8 with the gripping unit extended downwards;

[0087] FIG. 11 the gantry robot from FIG. 10 seen obliquely from behind;

12a shows a detailed view of the portal arm with the gripping unit arranged in the lower area, seen obliquely from the front;

[0089] FIG. 12b shows the portal arm from FIG. 12a seen obliquely from behind;

[0090] FIG. 13a shows the portal arm from FIG. 12a with a gripping unit moved into different pivot positions (for example +45°), seen from the left;

13b shows the portal arm from FIG. 13a seen from the right and

14 shows the flattened portal arm entering a container close to a container wall.

holder is submerged.

First of all, it should be noted that in the differently described embodiments, the same parts are provided with the same reference numbers or the same component designations, and the disclosures contained throughout the description can be transferred to the same parts with the same reference numbers or the same component designations. The position information selected in the description, such as top, bottom, side, etc., refers to the figure directly described and shown and, in the event of a change of position, is to be transferred to the new position.

1 shows a storage and picking system for picking goods, comprising a storage area 1 and one or more picking stations 2 for picking goods with a robot system, a source container distribution system 3 and a target container distribution system 4.

Within the scope of the invention, a “goods” is understood to mean, in particular, an individually handleable object or a individually handleable group of objects.

The storage area 1 shown as an example serves primarily to provide a large number of source containers 5, in which goods A, B etc. shown in FIG. 2, namely (storage) items, are contained. The source container 5 can each contain a single type of goods. For example, a first source container 5a contains goods A, a second source container 5b goods B, etc. On the other hand, the source containers 5 can be divided into several storage compartments by partitions and accommodate different types of goods, with goods A in the first storage compartment and goods B in the second storage compartment can be included. The range of goods in the storage area 1 can be increased by segmented source containers 5 .

In principle, it is also conceivable that the target containers are divided by partitions into several receiving compartments and accommodate different orders, with a first order containing one or more goods being received in the first receiving compartment and a second order containing one or more goods being received in the second receiving compartment can. However, the target containers can also be designed without partitions and accommodate different orders. The sorting buffer described below can be reduced by segmenting the target containers, which means that the number of sorting locations and buffer locations can be reduced.

The invention should not be understood as being limited to containers. Rather, you can

other loading aids such as trays, boxes and the like can be used. The source container corresponds to a source loading tool and the destination container corresponds to a destination loading tool.

The storage area 1 preferably comprises an automated warehouse. According to the exemplary embodiment shown, the storage area 1 comprises storage racks 6 arranged in parallel and a rack aisle 7 provided between the storage racks 6. Each storage rack 6 forms a plurality of storage locations 8 next to one another in stacked rack levels, on which the source containers 5 are stored. In the example shown, two storage racks 6 are shown. Within the scope of the invention, however, more than two storage racks 6 can also be provided, with a rack aisle 7 being formed between adjacent storage racks 6 in each case.

The source container distribution system 3 serves to transport source containers 5 between the storage area 1 and the picking station(s) 2. The source container distribution system 3 is preferably an automatically operated source container distribution system. The removal of source containers 5 from the storage area 1 can be automated and the transport of the source containers 5 from the storage area 1 to the picking station 2 can be automated.

The source container distribution system 3 comprises, for example, one or more warehouse management devices 9 and a source container conveyor system between the storage area 1 and the picking stations 2 in order to transport source containers 5 from the storage area 1 to the relevant picking stations 2 and to transport source containers 5 from the picking stations 2 to be transported to storage area 1.

The source container conveyor technology between the storage area 1 and the picking stations 2 can, for example, have a first conveyor device 10 for transporting source containers 5 to the storage area 1 and a second conveyor device 11 for transporting source containers 5 away from the storage area 1 and a third conveyor device 12 for transporting Source containers 5 to the picking station 2 and a fourth conveyor 13 for removing source containers 5 from the picking station 2 and finally a fifth conveyor 14 for transporting source containers 5 between the conveyors 10, 11, 12, 13. The fifth conveying device 14 includes input and/or discharge devices 15 in order to transport the source container 5 between the conveying devices 10 to 14 . The fifth conveyor device 14 is, for example, a closed conveyor loop. The loading and/or unloading device 15 is formed, for example, by a belt converter.

The source container distribution system 3 can also include a transfer device 16 for the transport of source containers 5 between the storage and retrieval device 9 and the source container conveyor system.

If one-level storage and retrieval devices are used as storage and retrieval device 9 in the storage area 1, guideways 17 are arranged in pairs in superimposed (horizontal) travel levels. The guide tracks 17 are preferably attached to the adjacent storage racks 6 . The single-level storage and retrieval devices (shuttles), which can be controlled independently of one another by a control unit, can be moved along the aisle 7 and can be moved in the superimposed travel levels in front of the storage locations 8 .

The storage and retrieval device 9 comprises a loading platform and a transport device 18 (load handling device). The transport device 18 can manipulate the source containers 5 between the loading platform and the storage location 8, namely storing source containers 5 in the storage racks 6 arranged on both sides of the storage and retrieval device 9 or retrieving source containers 5 from the storage racks 6 arranged on both sides of the storage and retrieval device 9. Provision can be made for at least one storage and retrieval device 9 to be assigned to each shelf level. A storage service device 9 thus serves a shelf level via the transport device 18 .

[00106] The storage and retrieval of source containers 5 by means of the storage service devices 9, the transfer device 16 and the conveyor devices 10, 11 is described in detail in WO 2013/090970 A2.

The transfer device 16 comprises a first buffer device 19a, a first lifting

device 20a, a second buffering device 19b and a second lifting device 20b.

The buffer device 19a comprises provision devices for the intermediate buffering of one or more source containers 5 to be stored per travel level and the buffer device 19b comprises provision devices for the intermediate buffering of one or more source containers 5 to be retrieved per travel level. Other variants are also possible, as in WO 2013/090970 A2 described.

The lifting devices 20a, 20b are set up in a stationary manner and each comprise a transfer device that can be raised and lowered via a lifting drive. The transfer devices are preferably each mounted on a vertical mast and each comprise a drivable conveying device.

The source container distribution system 3 can include an optional turning station 23, with which the source containers 5 discharged from the fifth conveyor device 14 are rotated from a transverse orientation to a longitudinal orientation.

As shown in detail in FIG. 3, the picking station 2 includes a source container conveyor system for the automated transport of the source container 5, in particular for the transport of source containers 5 to a first service device 24a and a second service device 24b and for the removal of source containers from the first service device 24a and the second serving device 24b.

The source container conveyor system of the picking station 2, as shown in FIGS. 3 and 4, includes a first conveyor device 25 for transporting source containers 5a, 5b, the first delivery device 24a for providing a first source container 5a, a second delivery device 24b for providing a second source container 5b and a second conveyor device 26 for transporting away the source container 5a, 5b from the first delivery device 24a and second delivery device 24b. The first conveyor device 25 and second conveyor device 26 each comprise at least one conveyor 22a, 22b. The conveyor 22a is driven and coupled to a drive motor. The conveying means 22a has, for example, conveying rollers mounted rotatably on a frame. The conveyor 22b is driven and coupled to a drive motor. The conveying means 22b has, for example, conveying rollers rotatably mounted on a frame. According to the embodiment shown, the first conveyor device 25 and second conveyor device 26 are preferably formed by a roller conveyor and comprise a large number of conveyor rollers, at least some of which are driven by a drive motor.

The first delivery device 24a with the first removal location 27a and the second delivery device 24b with the second removal location 27b are arranged one behind the other along the second conveyor device 26 and in the conveying direction (arrow).

The first service device 24a is connected to the first conveyor device 25 in terms of conveyor technology and includes a first removal station 27a. The first service device 24a is preferably connected to the first conveyor device 25 via a first transfer device 28 in terms of conveyor technology. A first source container 5a is transported by the first conveyor device 25 and then transported by the first transfer device 28 to the first delivery device 24a to the first removal location 27a. Then the first source container 5a will be made available at the first removal location 27a (upright).

The second service device 24b is connected to the first conveyor device 25 in terms of conveyor technology and includes a second removal station 27b. The second delivery device 24b is preferably connected to the first conveyor device 25 via a second transfer device 29 in terms of conveyor technology. A second source container 5b is transported by the first conveyor device 25 and then transported by the second transfer device 29 to the second delivery device 24b to the second removal station 27b. The second source container 5b will then be made available at the second removal location 27b (upright).

The first conversion device 28 and second conversion device 29 comprise according to

shown embodiment in each case a first conveyor 30a and a second conveyor 30b, which are formed for example by a first belt converter and second belt converter. Such belt converters (and this also applies to the belt converters mentioned elsewhere) have conveyor belts coupled to a drive motor, which are mounted on a hoist and form the conveying plane.

The conveyor belts of the first belt transfer device can be moved via the hoist between a lowered rest position, in which the conveyor belts are lowered below the conveying level of the first conveyor device 25 and a source container 5b is transported from the first conveyor device 25 to the second transfer device 29, and a raised conveying position , in which a source container 5a, 5b is lifted off the first conveyor device 25 and conveyed across the conveyor belt to the first conveyor device 25.

The conveyor belts of the second belt converter can be moved via the lifting gear between a raised conveying position, in which a source container 5a, 5b is taken over by the first belt converter and conveyed via the conveyor belts transversely to the second conveyor device 26, and a lowered rest position, in which the conveyor belts are underneath the conveying level of the second conveying device 26 are lowered and a source container 5a, 5b is deposited on the second conveying device 26, can be adjusted.

The described embodiment of the first conversion device 28 and the second conversion device 29 are in no way to be understood as limiting. The first transfer device 28 and second transfer device 9 allow a first source container 5a transported on the first conveyor device 25 to be moved transversely and a second source container 5b transported on the first conveyor device 25 to be moved transversely, in order to move the first source container 5a to the first delivery device 24a and the second source container 5a to the to transport second service device 24b.

In a preferred embodiment, the first delivery device 24a with the first removal location 27a and the second delivery device 24b with the second removal location 27b are formed on the second conveyor device 26 for the removal of source containers 5a, 5b. Specifically, the first delivery device 24a with the first removal location 27a and the second delivery device 24b with the second removal location 27b are formed by conveyor sections on the second conveyor device 26 for the removal of source containers 5a, 5b. These conveyor sections each comprise a conveyor means 22b that can be controlled and driven by the control unit 31 (FIG. 1). The conveyor 22b comprises a large number of conveyor rollers, at least some of which are driven by a drive motor.

The conveyor 22b of a first conveyor section is controlled and driven by the control unit 31 in order to transport away a first source container 5a from the first service device 24a by the second conveyor device 26 after processing an order line for a first order. Likewise, the conveyor 22b of a second conveyor section is controlled and driven by the control unit 31 in order to transport a second source container 5b away from the second delivery device 24b by the second conveyor device 26 of an order line to a second order.

As shown in Fig. 4, a buffer device 32 with at least one buffer location is provided between the first service device 24a with the first removal location 27a and the second service device 24b with the second removal location 27b, at which a second source container 5b after order picking (after processing an order line for a second order) can be buffered. The buffer device 32 is preferably formed on the second conveyor device 26 for the removal of source containers 5a, 5b.

Specifically, the buffer device 32 is formed with the at least one buffer space by a conveyor section on the second conveyor device 26 for the removal of source containers 5a, 5b. This conveyor section comprises a conveyor means 22b (not shown) that can be controlled and driven by the control unit 31 . The conveyor 22b comprises a large number of conveyor rollers, at least some of which are driven by a drive motor. The funding

22b of said conveyor section is controlled and driven by the control unit 31 in order to transport a second source container 5b from the second delivery device 24b to the buffer location and to transport a second source container 5b away from the buffer location. The second source container 5b passes through the first delivery device 24a and is transported away by the second conveyor device 26 .

The first conveying device 25 and the second conveying device 26 have opposite conveying directions, as indicated by the arrows in FIGS. The conveying means 22a of the first conveying device 25 are preferably driven unidirectionally and the conveying means 22b of the second conveying device 26 are driven unidirectionally.

The picking station 2 is connected to the source container conveyor system of the source container distribution system. Specifically, the picking station 2 connects to the third conveyor device 12 with the first conveyor device 25 and to the fourth conveyor device 13 with the second conveyor device 26 .

As shown in detail in FIGS. 3 and 4, the picking station 2 includes a target container conveyor system for the automated transport of the target containers 33, in particular for the transport of target containers 33 to a first delivery device 34a and a second delivery device 34b and for the removal of Target containers 33 from the first serving device 34a and the second serving device 34b.

The target container conveyor system of the picking station 2 comprises a first conveyor device 35 for transporting target containers 33, the first delivery device 34a for providing a first target container 33a, a second delivery device 34b for providing a second target container 33b and a second conveyor device 36 for transporting away the Target container 33 from the first serving device 34a and second serving device 34b.

The first conveyor device 35 and second conveyor device 36 each comprise at least one conveyor 22a, 22b. The conveyor 22a is driven and coupled to a drive motor. The conveying means 22a has, for example, conveying rollers mounted rotatably on a frame. The conveyor 22b is driven and coupled to a drive motor. The conveying means 22b has, for example, conveying rollers rotatably mounted on a frame. According to the embodiment shown, the first conveyor device 35 and second conveyor device 36 are preferably formed by a roller conveyor and comprise a large number of conveyor rollers, at least some of which are driven by a drive motor.

The first delivery device 34a with the first loading station 37a and the second delivery device 34b with the second loading station 37b are arranged one behind the other along the second conveyor device 36 and in the conveying direction (arrow).

The first service device 34a is connected to the first conveyor device 35 in terms of conveyor technology and includes a first loading station 37a. The first delivery device 34a is preferably connected to the first conveyor device 35 in terms of conveyor technology via a first transfer device 38 . A first target container 33a is transported by the first conveyor device 35 and then transported by the first transfer device 38 to the first delivery device 34a to the first loading station 37a. The first target container 33a will then be made available at the first loading point 37a (upright).

The second service device 34b is connected to the first conveyor device 35 in terms of conveyor technology and includes a second loading station 37b. The second service device 34b is preferably connected to the first conveyor device 35 via a second transfer device 39 in terms of conveyor technology. A second target container 33b is transported by the first conveyor device 35 and then transported by the second transfer device 39 to the second delivery device 34b to the second loading station 37b. The second target container 33b will then be made available at the second loading station 37b (upright).

The first conversion device 38 and second conversion device 39 comprise according to

shown embodiment in each case a first conveyor 30a and a second conveyor 30b, which are formed for example by a first belt converter and second belt converter. Such belt converters (and this also applies to the belt converters mentioned elsewhere) have conveyor belts coupled to a drive motor, which are mounted on a hoist and form the conveying plane.

The conveyor belts of the first belt transfer device can be moved via the hoist between a lowered rest position, in which the conveyor belts are lowered below the conveying level of the first conveyor device 35 and a target container 33b is transported from the first conveyor device 35 to the second transfer device 39, and a raised conveying position , in which a target container 33a, 33b is lifted off the first conveyor device 35 and conveyed across the conveyor belt to the first conveyor device 35.

The conveyor belts of the second belt converter can be moved via the hoist between a raised conveying position, in which a target container 33a, 33b is taken over by the first belt converter and conveyed via the conveyor belts transversely to the second conveyor device 36, and a lowered rest position, in which the conveyor belts are below the conveying level of the second conveying device 36 are lowered and a target container 33a, 33b is deposited on the second conveying device 36 can be adjusted.

The described embodiment of the first conversion device 38 and second conversion device 39 are in no way to be understood as limiting. The first transfer device 38 and second transfer device 39 allow a first target container 33a transported on the first conveyor device 35 to be moved transversely and a second target container 33b transported on the first conveyor device 35 to be moved transversely, in order to move the first target container 5a to the first service device 34a and the second target container 33a to the to transport second service device 34b.

In a preferred embodiment, the first delivery device 34a with the first loading station 37a and the second delivery device 34b with the second loading station 37b are formed on the second conveyor 36 for the removal of target containers 33a, 33b. Specifically, the first delivery device 34a with the first removal location 37a and the second delivery device 34b with the second loading location 37b are formed by conveyor sections on the second conveyor device 36 for transporting away target containers 33a, 33b.

These conveyor sections each comprise a conveyor means 22b that can be controlled and driven by the control unit 31 (FIG. 1). The conveyor 22b comprises a large number of conveyor rollers, at least some of which are driven by a drive motor.

The conveyor 22b of a first conveyor section is controlled and driven by the control unit 31 in order to transport away a first target container 33a from the first service device 34a by the second conveyor device 36 after processing an order line to a first order. Likewise, the conveyor 22b of a second conveyor section is controlled and driven by the control unit 31 in order to transport a second target container 33b away from the second delivery device 34b by the second conveyor device 36 after processing an order line to a second order.

As can be seen in Fig. 3, between the first delivery device 34a with the first loading place 37a and the second delivery device 34b with the second loading place 37b, a buffer device 40 is provided with at least one buffer place, at which a second target container 33b after order picking (after processing an order line for a second picking order) can be buffered. The buffer device 40 is preferably formed on the second conveyor device 36 for transporting away target containers 33a, 33b.

Specifically, the buffer device 40 is formed with the at least one buffer space by a conveyor section on the second conveyor device 36 for the removal of source containers 33a, 33b. This conveyor section includes a conveyor 22b that can be controlled and driven by the control unit 31 .

The conveyor 22b comprises a plurality of conveyor rollers, at least some of which are driven by a drive motor. The conveyor means 22b of said conveyor section is controlled and driven by the control unit 31 in order to transport a second target container 33b from the second delivery device 34b to the buffer location and to transport a second target container 33b away from the buffer location. The second target container 33b passes the first delivery device 34a and is transported away by the second conveyor device 36 .

The first conveying device 35 and the second conveying device 36 have opposite conveying directions, as indicated by the arrows in FIGS. The conveying means 22a of the first conveying device 35 are preferably driven unidirectionally and the conveying means 22b of the second conveying device 36 are driven unidirectionally.

The picking station 2 is connected to a target container conveyor system of the target container distribution system 4 .

The target container distribution system 4 is used to transport completed target containers 33 between the picking station(s) 2 and a goods issue, as indicated by the arrow 41 in FIG. 1, or to transport partially picked target containers 33 between a first picking station 2 and a second picking station 2. The target container distribution system 4 is also used to transport empty target containers 33 or partially picked target containers 33 to the picking station(s) 2. The target container distribution system 4 is preferably an automated target container distribution system. Said target containers 33 can be transported in an automated manner.

The target container distribution system 4 includes a target container conveyor system. The target container conveyor system can, for example, have a first conveyor device 42 for transporting empty target containers 33 and/or partially picked target containers 33 to the relevant picking station(s) 2 and a second conveyor device 43 for transporting partially picked target containers 33 or completed target containers 33 away from the / include the relevant picking station (s) 2. According to the embodiment shown, the first conveyor device 42 and second conveyor device 43 each comprise a transfer device.

As can be seen in FIG. 3, the first conveyor device 35 of the picking station 2 and the first conveyor device 42 of the target container conveyor system are connected in terms of conveyor technology. In addition, the second conveyor device 36 of the picking station 2 and the second conveyor device 43 of the target container conveyor system are connected in terms of conveyor technology.

Optionally, the target container conveyor technology can connect with its first conveyor device 42 to a sorting buffer 44 to be described in more detail (as shown by way of example in Fig 1 entered in dashed lines), so that empty target containers 33 and/or partially picked target containers 33 are initially transported to the sorting buffer 44 and then, if appropriate, sorted to the picking station(s) 2 in question. The first conveying device 42 can be connected either to the first conveying device 45 of the sorting buffer, to be described in more detail below, or to the second conveying device 46, to be described in more detail, of the sorting buffer. In contrast to the representation in FIG. 1 , the first conveyor device 42 can also be connected to the fifth conveyor device 14 in order to transport empty target containers 33 and/or partially commissioned target containers 33 . The empty target containers 33 and/or partially commissioned target containers 33 are transferred to a buffer location 47-4 and then transported to the first loading location 37a or second loading location 37b or to a sorting location 48-1.

The conveyor 13 for removing source containers 5 from the picking station 2 and the second conveyor 36 for removing loaded target containers 33 from the picking station 2 are connected via a third conveyor to a conveyor 50 for conveying purposes. The conveyor 50 is formed, for example, by a belt converter described above. The conveyor 50 is controlled by the control unit 31,

to eject the loaded target container 33 from the target container conveyor to the source container conveyor. According to the embodiment shown, a single conveyor device 13 is used to transport loaded target containers 33 away from the picking station 2 and to transport source containers 5 away from the picking station 2 in order to save space. However, it would also be conceivable to use two separate conveying devices.

Accordingly, the picking station(s) 2 is/are connected to the source container conveyor system in order to transport source container 5 on a conveyor device 12 to the picking station(s) 2 and source container 5 on a conveyor device 13 from the picking station(s) ( en) 2, and is/are the picking station(s) 2 connected to the target container conveyor system in order to transport empty/partly picked target containers 33 on a conveyor 42 to the picking station(s) 2 and partially picked/completely picked target containers 33 on a conveying device 13, 30 of the picking station(s) 2.

A particularly advantageous embodiment results when the second conveyor device 26 for removing source containers 5a, 5b and the second conveyor device 36 for removing target containers 33a, 33b are arranged in parallel. The first serving device 24a with the first removal station 27a and the first serving device 34a with the first loading station 37a are arranged opposite one another. In particular, the first delivery device 34a with the first loading station 37a is arranged essentially mirrored with respect to an axis of symmetry with respect to the first delivery device 24a with the first removal station 27a. The axis of symmetry runs parallel to the conveying direction of the second conveying devices 26, 36.

The first serving device 24b with the second removal station 27b and the second serving device 34b with the second loading station 27b are arranged opposite one another. In particular, the second serving device 34b with the second loading station 37b is arranged essentially mirrored with respect to an axis of symmetry with respect to the first serving device 24b with the first removal station 27b. The axis of symmetry runs parallel to the conveying direction of the second conveying devices 26, 36.

It is also particularly advantageous that the second conveyor device 26 for removing source containers 5a, 5b and the second conveyor device 36 for removing target containers 33a, 33b are arranged at a distance 51 of at most 400 mm.

As can be seen in FIG. 2, the first service device 24a with the first removal station 27a and the first service device 34a with the first loading station 37a each form a (horizontal) service level 52a, 53a at the same level. Likewise, the second service device 24b with the second removal station 27b and the second service device 34b with the second loading station 37b each form a (horizontal) service level 52b, 53b at the same level. The service levels 52a, 53a and service levels 52b, 53b are preferably at the same level.

As can be seen in FIGS. 1 and 3, the picking station 2 connects to the sorting buffer 44, which is designed to provide the target containers 33 sorted in an order at the first loading station 37a and second loading station 37b. The order of the target containers 33 is determined depending on the order in which the source containers 5 are made available at the first removal location 27a and second removal location 27b. The sequence of the source containers 5 is detected by the control unit 31, using known path tracking systems (tracking system) which can determine the whereabouts of each source container 5 along the transport route, or by suitable sensors along the transport route.

The sorting buffer 44 is an automatically operated sorting buffer. The transport of the target containers 33 in the sorting buffer 44 (in particular between the buffer and sorting locations 47, 48) and the sorting of the target containers 33 by the sorting buffer 44 takes place automatically.

The sorting buffer 44 comprises on a first conveyor device 45 in a delivery direction

direction (arrow from left to right) buffer locations 47 arranged one behind the other and on a second conveyor device 46 in a return direction (arrow from right to left) arranged one behind the other sorting locations 48 and the buffer locations 47 with the sorting locations 48 connecting third conveyor devices 54. According to a preferred embodiment the first conveyor device 45 and second conveyor device 46 are arranged in parallel, while the third conveyor devices 54 are arranged perpendicularly to the first conveyor device 45/second conveyor device 46. The delivery direction of the requested target container 33 on the first conveyor device 45 and the return direction of the returned target container 33 on the second conveyor device 46 run in opposite directions.

The first conveyor device 45 and the second conveyor device 46 are connected in terms of conveyor technology to the first conveyor device 35 and the second conveyor device 36 in order to move the target containers 33 for processing different order lines into at least one order from the sorting buffer 44 to the first loading station 34a or second loading station 34b to be promoted and conveyed away from the first loading station 34a or the second loading station 34b 35 to the sorting buffer 44.

The first conveying device 45 and second conveying device 46 each have conveying means 55, 56. The target containers 33 are transported for processing orders on the first conveyor device 45 by means of the conveyor means 55 in the delivery direction and sorted to the first loading station 34a or second loading station 34b. The conveyor 55 forms a horizontal conveying plane. On the other hand, after orders have been processed and which still require goods for orders, target containers 33 can be transported on the second conveyor device 46 by means of the conveyor means 56 in the return direction from the first loading station 34a or second loading station 34b to the sorting stations 48. The conveying means 56 forms a horizontal conveying plane.

The conveyors 55, 56 each have, for example, rotatable conveyor rollers mounted on a frame and each form a roller conveyor. At least one conveyor 55 for transporting the target containers 33 in the delivery direction is assigned to the buffer locations 47 and at least one conveyor 56 for transporting the target containers 33 in the return direction is assigned to the sorting locations 48 . The conveyor 55 is driven and coupled to a first drive motor. The conveyor 56 is driven and coupled to a second drive motor. According to the exemplary embodiment shown, each buffer location 47 comprises a conveyor 55 with a plurality of conveyor rollers, of which at least one conveyor roller is driven and coupled to a drive motor. In addition, each sorting station 48 includes a conveyor 56 with a plurality of conveyor rollers, of which at least one conveyor roller is driven and coupled to a drive motor.

The drive motors are connected to the control unit 31, and the conveying means 55, 56 can be controlled separately by the control unit 31.

The third conveyor devices 54 connect the opposite buffer locations 47 and sorting locations 48 in order to release the target containers 33 from the sorting locations 48 to the buffer locations 47 in a time-controlled manner by the control unit 31 in such a way that the target containers 33b already have the sorting buffer 44 in a sorted order leave and in this sorted order the first loading station 34a and second loading station 34b are fed one after the other. The third conveying devices 54 each have conveying means 57 , 58 . The target containers 33 are transported from the sorting locations 48 to the buffer locations 47 by means of the conveyor means 57, 58 on the third conveyor device 54 for processing orders. The funding means 57, 58 form a horizontal conveying plane. The conveyor 57, 58 for each third conveyor 54 is driven and coupled to a third drive motor.

As can be seen from FIGS. 1 and 3, some of the buffer locations 47 and sorting locations 48 can each be assigned a common conveyor 57 . Otherwise, some of the buffer locations 47 and sorting locations 48 can be assigned a conveyor 58 per buffer location 47 and a conveyor 58 per sorting location 48 .

The conveying means 57, 58 are each formed, for example, by a belt converter

det, as described above. The conveyor belts can be moved via the lifting gear between a raised conveying position, in which a target container 33 is lifted from a sorting station 48 and conveyed via the conveyor belts to a buffer station 47, and a lowered rest position, in which the conveyor belts are lowered below the conveying level of the conveying means 55, 56 and a target container 33 is transported by the conveyor 56 from a first sorting location to a second sorting location or a target container 33 is transported by the conveyor 55 from a first buffer location to a second buffer location.

The conveyor 58 on the sorting station 48-4 and the conveyor 58 on the buffer station 47-1 can be operated bidirectionally.

The conveyors 55, 56, 57, 58 are controlled by the control unit 31 in such a way that the target containers 33 are sorted in the sorting buffer 44 in an order that depends on the order in which the source containers 5 are on the first removal location 27a and second Entnahmegplatz 27b are provided, is determined, and that a source container 5a, 5b and a target container 33a, 33b to an order approximately simultaneously at the first / second removal station 27a, 27b and first / second loading station 37a, 37b arrive.

The drive motors/actuators are connected to the control unit 31, and the conveying means 57, 58 can be controlled separately by the control unit 31.

As shown in FIG. 2, the picking station 2 comprises a fully automated robot system. The robot system comprises a robot 60 with a gripping unit 61 that can be moved relative to a robot base, by means of which goods A for a first order are removed from the first source container 5a and placed in the first target container 33a, and goods B for a second order are removed from the second source container 5b and placed in be deposited in the second target container 33b. It would also be conceivable that goods A, B are required for different orders and the first target container 33a and second target container 33b are already provided. On the one hand, goods A can first be removed from the first source container 5a and placed in the first destination container 33a by means of the gripping unit 61 and then goods A can again be removed from the first source container 5a and placed in the second destination container 33b. On the other hand, goods B can first be removed from the second source container 5b and placed in the first destination container 33a by means of the gripping unit 61 and then goods B can again be removed from the second source container 5b and placed in the second destination container 33b.

A working space of the robot 60 is designed such that the gripping unit 61 can access the first source container 5a, second source container 5b, first target container 33a and second target container 33b. The gripping unit 61 preferably comprises at least two vacuum suction pads, each vacuum suction pad being separately controllable. In principle, the gripping unit 61 can also only include a vacuum suction gripper.

According to the embodiment shown, the robot 60 is formed by an articulated arm robot. A portal robot is also possible.

The robot system also includes a sensor system 62a, 62b at least for detecting the goods A, B in the first source container 5a and second source container 5b. On the one hand, before the removal of goods A from the first source container 5a, a gripping surface pose of a gripping surface 63 for at least one of the goods A in the first source container 5a is detected by the sensor system 62a. On the other hand, before a product B is removed from the second source container 5b, a gripping surface pose of a gripping surface 63 for at least one of the products B in the second source container 5b is detected by the sensor system 62b. The sensor system 62a, 62b is connected to a robot controller 64. According to the embodiment shown, the sensor system 62a, 62b comprises an image recognition device.

The sensor system 62a, 62b or the image recognition device comprises cameras which are arranged above the source containers 5a, 5b and are each designed as a stereo camera. Accordingly, the cameras capture a three-dimensional image of at least the source containers 5a, 5b and the goods A, B stored therein.

24/80

The robot controller 64 calculates a gripping pose for the gripping unit 61 from the determined gripping surface pose and controls the robot 61 and/or the gripping unit 61 according to the gripping pose in order to remove goods from the first/second source container 5a, 5b.

It also proves advantageous if a gripping surface pose and a gripping surface size of a gripping surface 63 of goods A, B are determined with the aid of a sensor system 62a, 62b. From the determined gripping surface pose and gripping surface size, a gripping pose for the gripping unit 61 can be calculated, in which a maximum number of suction grippers are in contact with the gripping surface 63 of the goods A mentioned. The gripping unit 61 is moved into the calculated gripping pose and the suction grippers in contact or coming into contact with the gripping surface 63 of said good A are activated in order to pick up the good A.

[00174] As shown in FIG. 2, the sensor system 65a, 65b can also detect an available receiving volume in the first target container 33a and second target container 33b. The storage volume decreases with an increasing number of goods A, B placed in the first target container 33a/second target container 33b. On the one hand, before the goods A, B are placed in the first target container 33a, an available storage volume is detected by the sensor system 65a and by the robot control 64 calculates a lay-down pose for the gripping unit 61. The gripping unit 61 is moved into the calculated placement position and the goods A, B are placed in the first target container 33a/second target container 33b. On the other hand, before the goods A, B are placed in the second target container 33b, the sensor system 65b detects an available receiving volume and the robot controller 64 calculates a placement pose for the gripping unit 61. The sensor system 65a, 65b is connected to a robot controller 64. According to the embodiment shown, the sensor system 65a, 65b comprises an image recognition device.

It should be noted at this point that the term “depositing goods in a target container” within the meaning of the invention is not to be understood as restrictive, in that the goods are only placed in the target container, but the goods are also thrown into the target container can be. “Drop off” is particularly suitable for soft goods in particular, since these cannot be damaged and the gripping unit 61 can make shorter movements. In this case, the laying-down pose can also be referred to as the dropping pose.

The sensor system 65a, 65b or the image recognition device comprises cameras which are arranged above the target containers 33a, 33b and are each designed as a stereo camera. Accordingly, the cameras capture a three-dimensional image at least of the target containers 33a, 33b and the available recording volume.

A "pose" is generally the combination of position and orientation in space. Accordingly, a “gripping surface pose” is the combination of position and orientation of the gripping surface of a product and the “gripping pose” and “putting down pose” are the combination of position and orientation of the gripping unit 61.

In general, a “gripping surface” of a product, which is used to grip said product with the gripping unit 61, can have any shape and, for example, be polygonal (especially rectangular), circular or elliptical or also be formed by a free-form surface.

It should also be noted that the goods in the source containers 5 can be arranged side by side, one above the other, standing or lying, and therefore disorderly (chaotic) or in a jumble.

As can be seen in FIGS. 1 and 2, a storage plate 66a is arranged above the second conveyor device 26 for removing source containers 5a, 5b and the second conveyor device 36 for removing target containers 33a, 33b. The storage plate 66a is arranged between the first service device 24a with the first removal location 27a and the first service device 34a with the first loading location 37a and comprises a first access opening 67a (vertical) above the first removal location 27a and a second access opening 67b (vertical) above the first loading station 37a. Likewise, above the second conveyor device 26 for the removal of source containers 5a, 5b and the second conveyor device

36 for the removal of target containers 33a, 33b a storage plate 66b is arranged. The storage plate 66b is arranged between the second service device 24b with the second removal location 27b and the second service device 34b with the second loading location 37b and comprises a first access opening 67a (vertical) above the second removal location 27b and a second access opening 67b (vertical) above the second loading station 37b.

The storage plate 66a and the storage plate 66b essentially cover the distance 51 between the second conveyor device 26 and the second conveyor device 36 in the area of the first/second removal location 27a, 27b and the first/second loading location 37a, 37b.

Even if the robot system works very reliably, it cannot be ruled out that goods A, B picked up on the gripping unit 61 may accidentally get lost on the movement between the first/second removal station 27a, 27b and the first/second loading station 37a, 37b . Goods A that have (unintentionally) fallen down from the gripping unit (as shown by way of example in dashed lines in FIG. 2) do not fall onto the floor or onto the second conveyor devices 26, 36, but come to rest on the storage plate 66a/storage plate 66a.

It can also prove to be advantageous if a storage plate 66c is additionally arranged above the second conveyor device 26 for the removal of source containers 5a, 5b between the first delivery device 24a with the first removal location 27a and the second delivery device 24b with the second removal location 27b is. This storage plate 66c extends parallel to the conveying direction of the second conveyor device 26 for the removal of source containers 5a, 5b and connects to the storage plates 66a, 66b. Likewise, a storage plate 66d is arranged above the second conveyor device 36 for the removal of target containers 33a, 33b between the first delivery device 34a with the first loading place 37a and the second delivery device 34b with the second loading place 37b. This storage plate 66d extends parallel to the conveying direction of the second conveyor device 36 for transporting away target containers 33a, 33b and connects to the storage plates 66a, 66b. The storage plate 66c or storage plate 66d can serve as an assembly portal for the robot 60 at the same time.

As described above, goods A can be removed from the first source container 5a and placed in the second destination container 33b, or goods B can be removed from the second source container 5b and placed in the first destination container 33a. Goods A, B picked up at the gripping unit 61 can be lost during a diagonal movement between the first/second removal location 27a, 27b and the first/second loading location 37a, 37b. The goods A, B that have (unintentionally) fallen from the gripping unit do not fall onto the floor or onto the second conveyor devices 26, 36, but come to rest on the storage plate 66c/storage plate 66d.

As can be seen in FIGS. 1 and 2, the trays 66a..66c are formed by a single tray.

In order to enable automated "troubleshooting", it can now be provided that the sensor system is also used to detect a product A, B, which is picked up by the gripping unit 61 after it has been removed from the first/second source container 5a, 5b and before it is deposited has fallen down into the first/second target container 33a, 33b (or on the movement of the gripping unit 61 between the first/second removal location 27a, 27b and the first/second loading location 37a, 37b) and is lying on the storage plate 66a..66d . Robot controller 64 can control robot 60 and/or gripping unit 61 in such a way that it picks up said goods A, B and places them back in first source container 5a or second source container 5b, or places them in the intended first target container 33a or second target container 33b. In the example shown, the goods A are to be deposited in the first target container 33a.

The goods A, B on the storage shelf 66a..66d can be detected by the already existing sensor system 62a, 62b and/or sensor system 65a, 65b. Alternatively or

In addition, a sensor system 68 (as shown in dashed lines) can be provided above the shelf 66a..66d, by means of which goods A, B that have (unintentionally) fallen down on the shelf 66a..66d can be detected. The sensor system 68 is connected to a robot controller 64 . According to the embodiment shown, the sensor system 68 comprises an image recognition device.

The sensor system 68 or the image recognition device comprises one or more cameras, which are arranged above the shelf 66a..66d and are each designed as a stereo camera. Accordingly, the camera(s) captures/capture a three-dimensional image of at least the goods A, B on the storage shelf 66a..66d.

With the help of the sensor system 62a, 62b; 65a, 65b; 68 a gripping surface pose of a gripping surface 63 of the fallen goods A, B is determined. A gripping pose for the gripping unit 61 can be calculated from the determined gripping surface pose in order to pick up the goods A, B mentioned on the gripping unit 61 . The gripping unit 61 is moved into the calculated gripping pose and the suction grippers in contact or coming into contact with the gripping surface 63 of the goods A mentioned are activated in order to pick up the goods A, B mentioned.

[00190] It is also noted that the sensor system can not only have cameras, but alternatively or additionally can also include a spatial depth sensor, a laser scanner and/or an ultrasonic sensor. In particular, a three-dimensional image of the goods A, B can be recorded with the aid of these sensors.

5a to 5m, which are described together, a method for picking goods at a picking station 2, at which orders are processed, is described. For reasons of a better overview, the robot system and the conveyor means 22a, 22b, 55, 56 of the source container conveyor system or target container conveyor system are not entered. The robot 60 and gripping unit 61 are also not shown. An order can also be processed in partial orders at a single picking station 2 . Otherwise the orders or partial orders of the orders can also be processed at several picking stations 2 . In this case, a target container 33 is initially fed to a first picking station 2 and at least one item is picked. Thereafter, the target container 33 is fed to a second picking station 2 and at least one item is picked. In other words, the order cannot be processed completely at a single picking station 2 and the target container 33 is transported to the second picking station 2 after partial picking in the first picking station 2 via the fifth conveyor device 14 (FIG. 1).

For the sake of simplicity, the term “orders” is used below. An order can also be understood as a picking order. A customer order includes at least one order. The orders are available as data records. The orders are recorded electronically on a computer (not shown) and the control units 31, 64 are transmitted. Each order consists of one or more order lines. If the order specifies several order lines, different goods are required. Each order line has at least information about the number of items ordered and about a type of goods.

In the illustrated embodiment according to FIGS. 5a to 5m, a first order comprises a first order line, for example 2 pieces of goods A, and a second order line, for example 1 piece of goods H. A second order includes a single order line, for example 1 piece of goods B. A third order comprises a first order line, for example 1 piece of goods N (which is already in the target container 33d), and a second order line, for example 2 pieces of goods D and a third order line, e.g. 4 items of item O. A fourth order includes a first order line, e.g. 2 items of item C and a second order line, e.g. 3 items of item P. A fifth order includes a first order line, e.g. 1 item of the Goods F. A sixth order comprises a first order line, for example 1 piece of good E and a second order line, for example 3 pieces k from the commodity Q

For the initial processing of (new) orders, empty target containers 33a, 33b,

33c and 33e via the conveyor device 42. The empty target containers 33a, 33b, 33c and 33e are identified and an empty target container 33a, 33b, 33c and 33e is linked in terms of data to a recorded order.

The transport of the identified and empty target containers 33a, 33b, 33c and 33e to the first loading station 34a and second loading station 34b is carried out by conveyor 42 and in the picking station 2 by the first conveyor 35 and the conversion devices 38, 39. For example, the first target container 33a at the first loading station 34a for processing the first order line into a first order and the second target container 33b is provided at the second loading station 34b for processing the order line into a second order.

In the sorting buffer 44, target containers 33 are temporarily buffered which require goods for more than one order line and already contain a first order line, for example the target containers 33d, 33f. At least one product has therefore already been placed in each of the target containers 33 . However, some target containers 33 (not shown) can also be empty, which are supplied via the conveyor system 42 connected to the sorting buffer 44 .

The source containers 5a..5h are removed from the storage area 1 in a disordered (chaotic) order and conveyed in a disordered (chaotic) order to the first removal location 24a and second removal location 24b. The source containers 5a..5h preferably each store a single type of goods. One speaks of so-called "goods type pure" source containers 5a..5h. In the exemplary embodiment shown, the first source container 5a contains product A, the second source container 5b contains product B, the third source container 5c contains product C, etc.

A number of orders are usually to be processed at the picking station 2 and contain some orders that comprise more than one order line. The consequence of this is that the target containers 33 assigned to these orders (for example the target containers 33a, 33c, 33d) must be made available several times at the first and second loading locations 37a, 37b and in an order which depends on the order in which the source containers 5a..5h are provided at the first and second removal locations 24a, 24b. This is illustrated, for example, using the target container 33a, which carries 2 pieces of goods A for a first order line and 1 piece of goods H for a second order line.

In the sorting buffer 44, target containers 33 for different orders on the sorting locations 48-1 to 48-4 and on the buffer space 47-4 to 47-1 can target containers 33 for different orders, for example a target container.

As can be seen in FIGS. 5f-5g, a previously processed target container 33a is transported via the second conveyor 36 from the first loading station 37a back into the sorting buffer 44 and onto a sorting station 48-3 determined by the control unit 31, since still a second order line is to be processed. The source container 5a is transported away from the first removal location 24a on the source container conveyor system and stored back in the storage area 1 . Likewise, a previously processed target container 33c can be transported via the second conveyor device 36 from the second loading station 37b back to the sorting buffer 44 and to a sorting station 48-1 to 48-4 determined by the control unit 31, since a second order line still has to be processed. The source container 5c is transported away from the second removal location 24b on the source container conveyor system and stored back in the storage area 1 .

As can be seen in FIG. 5h, the target container 33a can be transported from the sorting station 48-3 to one of the buffer locations 47-2 determined by the control unit 31 immediately after it has been transported to the sorting buffer 44, after the source container 5h is transported with the goods H for the second order line to the picking station 2. The target container 33a is transported from one of the sorting locations 48-3 to one of the buffer locations 472 by means of the conveyor 57 of one of the third conveyor devices 54. The target container 33a is transported along the sorting locations 48-4 and 48-3 by means of the conveyor 56 of the second Conveyor 46. The transport of the target container 33a along the buffer locations 47-2

and 47-1 takes place by means of the conveying means 55 of the first conveying device 45. Accordingly, the target containers 33 in the sorting buffer 44 can be transported in parallel along the sorting locations 48-4 to 48-1 and along the buffer locations 47-1 to 47-4. It is also possible for a target container 33 previously transported to one of the sorting locations 48-4 to 48-1 to be moved past a target container 33 subsequently transported to one of the sorting locations 48-4 to 48-1.

A sorting process is thus carried out by the sorting buffer 44 via the buffer locations 47-1 to 47-4 and/or sorting locations 48-4 to 48-1.

In contrast, a previously processed target container 33b is transported via the second conveyor device 36 from one of the first and second loading locations 34a, 34b, for example the second loading location 37a and the conveyor device 43 to the conveyor device 13 for the removal of target containers 33 from the picking station 2, as seen in Figures 5f-5j. The source containers 5 are preferably also transported away from the picking station 2 by the conveyor device 13 .

A possible sorting function of the sorting buffer 44 can thus be described as follows:

a first target container 33 is transported back to the sorting buffer 44 for processing different order lines for at least one order after goods have been deposited for a first order line, and is temporarily buffered at a first sorting station 48 until a source container 5 with goods becomes one second order line is conveyed into a conveyor device 12 provided upstream of the picking station 2 (in particular the first removal location 24a and second removal location 24b) for transporting source containers 5 to the picking station 2, and said first target container 33 from the first sorting location 48 to one of the buffer locations 47 and thereafter can be moved to one of the first and second loading places 34a, 34b after the source container 5 has been transported with a product to a second order line on the conveyor device 12 for the transport of source containers 5 to the picking station 2, and

a second target container 33 for processing different order lines for at least one order after depositing a good to a first order line is transported back to the sorting buffer 36 and moved via a second sorting station 48 to one of the buffer stations 47 and then to the first and second loading stations 34a, 34b if a source container 5 with goods for a second order line has already been transported into a conveyor device 12 provided upstream of the picking station 2 (in particular the first removal location 24a and second removal location 24b) for transporting source containers 5 to the picking station 2.

As soon as the source containers 5 are on the conveying device 12 and are being transported by it, the (chaotic) order previously recorded is no longer changed.

In the following, a first embodiment of a method for the fully automated picking of various goods A..H from source container 5a..5h in target container 33a..33g by a robot 60 with a gripping unit 61 according to orders is described. This method for fully automated picking can be used particularly well at the picking station 2 described above.

The method comprises at least the following steps:

a) Entry of orders, each with one or more order lines, with each order line specifying at least one product according to its product type and the number of items ordered,

b) Transport of a first source container 5a for a first picking order and transport of a second source container 5c for a second picking order on a first conveyor device 25 and transport of the first source container 5a from the first conveyor device 25 to a first service device 24a with a first removal location 27a and transport of the second source container 5c from the first conveyor device 25 to a two-

th service device 24b with a second removal location 27b (see Fig. 5a-5f),

C) providing the first source container 5a at the first removal location 27a (see FIG. 5b) and providing the second source container 5c at the second removal location 27b (see FIG. 5f),

d) transport of a first target container 33a to a first delivery device 34a with a first loading station 37a and provision of a first target container 33a at the first loading station 37a in order to process an order line for a first order (see FIGS. 5a-5b),

e) Transport of a second target container 33b to a second delivery device 34b with a second loading station 37b and provision of a second target container 33b at the second loading station 37b in order to process an order line for a second order (see Fig. 5b-5g),

f) Determination of a gripping surface pose of a gripping surface 63 (Fig. 2) for at least one of the goods A in the first source container 5a using a sensor system 62a, in particular an image recognition device with a camera system, after the first source container 5a has been provided at the first removal location 24a, and calculation a gripping pose for the gripping unit 64 from the determined gripping surface pose by the robot controller 64 (see FIG. 5b - hatching of the first source container 5a symbolizes the previous determination of a gripping surface pose),

g) Removal of said goods A from the first source container 5a and placement of said goods A in the first target container 33a by the gripping unit 61 of the robot 60 according to the first order (see Fig. 5c - the arrow symbolizes the first removal and the placement of a first Goods A),

h) Repeat step f) if the order line for the first order again contains goods A of this type of goods, renewed removal of said goods A from the first source container 5a and placement of said goods A in the first target container 33a by gripping unit 61 of robot 60 (see Fig. 5c - hatching of the first source container 5a symbolizes the repeated determination of a gripping surface pose and see Fig. 5d - arrow symbolizes the second removal and the renewed depositing of a first product A),

i) Determination of a gripping surface pose of a gripping surface 63 for at least one of the goods C in the second source container 5c using a sensor system 62b, in particular an image recognition device with a camera system, after the second source container 5c has been provided at the second removal location 24b, and calculation of a gripping pose for the gripping unit 64 from the determined gripping surface pose by the robot controller 64 (see FIG. 5g - hatching of the second source container 5c symbolizes the previous determination of a gripping surface pose),

) Removal of said goods from the second source container 5c and placement of said goods in the second target container 33c by the gripping unit 61 of the robot 60 according to the second order (see Fig. 5h - arrow symbolizes the first removal and the placement of a first goods C) ,

k) Repetition of step i) if the order line for the second order again contains goods C of this type of goods, renewed removal of said goods C from the second source container 5c and placement of said goods C in the second target container 33c by the gripping unit 61 of the robot 60 (see Fig. 5h - hatching of the second source container 5b symbolizes the repeated determination of a gripping surface pose and see Fig. 5i - arrow symbolizes the second removal and the renewed placing of a second product C),

)) Removal of the first source container 5a after processing the order line for the first order from the first removal location 24a and removal of the second source container 5c after processing the order line for the second order from the second removal location 24b independently of one another by a second conveyor device 26,

m) Removal of the first target container 33a after processing the order line for the first order from the first loading station 34a and removal of the second target container 33c after processing the order line for the second order from the second loading station 34b independently

30 / 80

from each other by a second conveyor 36.

In step c), the first source container 5a is made available at the first removal location 27a and the second source container 5c is made available at the second removal location 27b, which can be done essentially in parallel or at different times.

The transport of the first and second target containers 33a, 33c in step d) and e) can be carried out in parallel or at different times. Likewise, the transport of the first and second target containers 33a, 33c in steps d) and e) and the transport of the first and second source containers 5a, 5c in step b) can take place at the same time or at different times. However, it is expedient for the transport of the first and second source containers 5a, 5c to the first and second removal locations 24a, 24b and the transport of the target containers 33a, 33c to the first and second loading locations 34a, 34b to be coordinated in such a way that a source container 5a, 5c and a target container 33a, 33c for an order arrive at the removal location 24a, 24b and loading location 34a, 34b approximately at the same time.

In step h), a gripping surface pose is repeatedly determined if goods A of this goods type are required again for the first order. The first order therefore includes an order line, for example with at least 2 pieces of goods A. Step h) is therefore carried out before each new removal of goods A from the first source container 5a. After the first removal of said goods A from the first source container 5a and as soon as the robot 60 and/or the gripping unit 61 have moved out of the detection range of the sensor system 62a, the sensor system 62a can repeatedly detect the goods A in the first source container 5a and repeatedly determine a gripping surface pose. If the sensor system 62a is a camera system (of an image recognition device), the repeated detection of the goods A in the first source container 5a can take place when the robot 60 and/or the gripping unit 61 has been moved out of the image detection area.

In step k), a gripping surface pose is repeatedly determined if a product C of this product type is required again for the second order. Therefore, the second order includes an order line, for example, with at least 2 pieces of goods C. Step k) is therefore carried out before each new removal of goods C from the second source container 5c. After the first removal of said goods C from the second source container 5c and as soon as the robot 60 and/or the gripping unit 61 have moved out of the detection range of the sensor system 62b, the sensor system 62b can repeatedly detect the goods C in the second source container 5c and repeatedly determine a gripping surface pose. If the sensor system 62b is a camera system (of an image recognition device), the repeated detection of the goods C in the second source container 5c can take place when the robot 60 and/or the gripping unit 61 has been moved out of the image detection area.

Accordingly, step f) during the processing of the order line (e.g. with at least 2 pieces of goods A) for the first order according to steps g) and h) and step i) during the processing of the order line (e.g. with at least 2 pieces of goods C) for the second order in accordance with steps ]) and k).

It should also be noted that step h) and/or step k) is only carried out if the order requires an order line with at least 2 goods A, C. If the order requires more than 2 goods for one order line, step h) and/or step k) is repeated. If, on the other hand, the order includes an order line with a single item, for example item B (see FIGS. 5d, 5e), step h) and/or step k) can be omitted. Specifically, in the example shown, this means that only step f) and/or step i) is carried out, namely determination of a gripping surface pose of a gripping surface 63 for at least one of the goods B in the second source container 5b using a sensor system 62b, in particular an image recognition device with a Camera system as soon as the second source container 5b has been made available at the second removal location 24b (see FIG. 5d - hatching of the second source container 5b symbolizes the one-time determination of a gripping surface pose).

In step m), the removal of the first target container 33a takes place after processing

Order line for the first order from the first loading station 34a and removal of the second target container 33c after processing the order line for the second order from the second loading station 34b independently of one another by a second conveyor device 36. If there are no further order lines for the first order/second order to be processed in this picking station 2 , the first target container 33a/second target container 33c can be transported away from the picking station 2 by the target container conveyor system (conveyor devices 13, 43) (see, for example, target container 33b). If, on the other hand, another order line for the first order/second order is to be processed in this picking station 2, the first target container 33a/second target container 33c is transported to the sorting buffer 44 described above in order to be able to be fed again to the first loading station 34a/second loading station 34b (See, for example, target container 33a).

In step i), the first source container 5a is transported away from the first removal location 27a and the second source container 5c is transported away from the second removal location 27b, which can be carried out essentially in parallel or at different times.

In step m), the first target container 33a is transported away from the first loading station 37a and the second target container 33c is transported away from the second loading station 37b, which can take place at different times.

The removal of the first source container 5 (e.g. source container 5a) after processing the order line for the first order from the first removal location 24a and the removal of the first destination container 33 (e.g. destination container 33a) after processing the order line for the first order from the first loading location 34a can be offset in time or synchronous in time (simultaneously), as shown in FIGS. 5a-5m. The removal of the second source container 5 (e.g. source container 5c) after processing the order line for the second order from the second removal location 24b and the removal of the second destination container 33 (e.g. destination container 33c) after processing the order line for the second order from the second loading location 34b can be offset in time or synchronous in time (simultaneously), as shown in Figs. 5a-5m.

According to one embodiment, it is provided that the first order with steps f) to h) and the second order with steps i) to k) are processed sequentially by the robot 60 / the gripping unit 61 .

It proves advantageous if step i) is carried out after the (complete) processing of the order line for the first order and during the movement of the robot 60 / the gripping unit 61 from the first target container 33a to the second source container 5c. The robot controller 64 receives the gripping surface pose of a gripping surface 63 for at least one of the goods C in the second source container 5c from the sensor system 62b, preferably shortly before the robot 60/the gripping unit 61 has reached the second source container 5c. Step f) is carried out after the (complete) processing of the order line for the second order during the movement of the robot 60/gripping unit 61 from the second target container 33c to the first source container 5a. The robot controller 64 receives the gripping surface pose of a gripping surface 63 for at least one of the goods A in the first source container 5a from the sensor system 62a, preferably shortly before the robot 60/the gripping unit 61 has reached the first source container 5a.

As is clearly evident from FIG. 4, the first delivery device 24a and the second delivery device 24b are arranged at a distance from one another in the conveying direction of the second conveying device 26. This distance can be defined by the buffer device 32 and is at least the container dimension (length of the container parallel to the conveying direction). However, this distance can also correspond to a multiple of the container dimensions.

Likewise, the first serving device 34a and the second serving device 34b are also arranged at a distance from one another in the conveying direction of the second conveying device 36 .

The apparent performance disadvantage due to the sequencing of steps f) to h) and steps i) to k) for processing different orders is compensated by the higher picking

performance, which is achieved by the short robot movements / gripping unit movements between the first source container 5 and first target container 33 or second source container 5 and second target container 33. The short robot movements/gripping unit movements result from the compact design of the picking station 2, in particular due to the small distance 51 between the second conveyor devices 26, 36. This also has the advantage that the control sequences can be made simpler.

In a special application, different order lines for a first order can be processed in such a way that first the first target container 33a is loaded with goods A from the first source container 5a and then with goods C from the second source container 5c, without an intermediate Removal of the first target container 33a from the first loading station 37a and renewed transport to the first loading station 37a. Likewise, different order lines for a second order can be processed in such a way that first the second target container 33c is loaded with a product C from the second source container 5c and then with a product A from the first source container 5a, without the first target container 33a being transported away in the meantime from the second loading station 37b and renewed transport to the second loading station 37b. In this case, the sorting buffer 44 described above would not be absolutely necessary or can even be omitted. A “diagonal movement” of the robot 60/gripping unit 61 takes place between the first/second removal location 27a, 27b and the first/second loading location 37a, 37b).

It proves advantageous if step i) is carried out after removal of a product A for an order line for the second order during the movement of the robot 60 / the gripping unit 61 from the first source container 5a to the second target container 33c. Step f) is carried out after removal of a product C for an order line for the second order during the movement of the robot 60/gripping unit 61 from the second source container 5c to the first target container 33a.

It has proven to be advantageous if step i) after processing an order line for the first order and after removing goods A for an order line for the second order during the movement of the robot 60 / the gripping unit 61 from the first target container 33a to the second source container 5c is carried out. Step f) is carried out after the processing of the order line for the second order during the movement of the robot 60/gripping unit 61 from the second target container 33c to the first source container 5a.

Finally, it should also be pointed out that the sorting buffer 44 is not absolutely necessary. In this case, the source container 5 and target container 33 are coordinated by the source container distribution system and target container distribution system to the first/second removal locations 27a, 27b and first/second loading locations 37a, 37b so that they are delivered to the respective orders and approximately at the same time to the first / second removal places 27a, 27b and first / second loading places 37a, 37b are provided. The sorting buffer 44 can also be realized by a different configuration.

In the following, a second embodiment of a method for the fully automated picking of various goods A..H from source container 5a..5h in target container 33a..33g by a robot 60 with a gripping unit 61 according to orders is described. In order to avoid unnecessary repetition, reference is made to the above disclosure of the method. In contrast to this, method step m) is optional.

The method comprises at least the following steps:

a) Entry of orders, each with one or more order lines, with each order line specifying at least one product A, C according to its product type and the number of items ordered,

b) Transport of a first source container 5a for processing an order line for a first order to a first delivery device 24a with a first removal location 27a and transport of a second source container 5c for processing an order line for a second order to a second delivery device 24b with a second removal location

27b with an automated source container conveyor system, the source containers 5a, 5c storing different goods A, C (see Fig. 5a-bf),

C) provision of the first source container 5a at the first removal location 27a and provision of the second source container 5c at the second removal location 27b (see FIG. 5f),

d) Transport of a first target container 33a to a first delivery device 34a with a first loading station 37a with an automated target container conveyor system and provision of a first target container 33a on the first loading station 37a in order to process an order line for the first order (see Fig. 5a- 5b),

e) Transport of a second target container 33c to a second delivery device 34b with a second loading station 37b with an automated target container conveyor system and provision of a second target container 33c at the second loading station 37b in order to process an order line for a second order (see Fig. 5b -5g),

f) Determination of a gripping surface pose of a gripping surface 63 for at least one of the goods A in the first source container 5a using a sensor system 62a after the first source container 5a has been made available at the first removal location 27a, and calculation of a gripping pose for the gripping unit 61 from the determined gripping surface pose by a Robot control 64 (see Fig. 5b hatching of the first source container 5a symbolizes the previous determination of a gripping surface pose),

g) Removal of said goods (A) from the first source container (5a) and depositing said goods (A) in the first target container (33a) by the gripping unit (61) of the robot (60) to an order line of the first order (see Fig. 5c - Arrow symbolizes the first removal and depositing of a first product A),

h) Repeat step f) if the order line for the first order again contains goods A of this type of goods, renewed removal of said goods A from the first source container 5a and placement of said goods A in the first target container 33a by gripping unit 61 of robot 60 (see Fig. 5c - hatching of the first source container 5a symbolizes the repeated determination of a gripping surface pose and see Fig. 5d - arrow symbolizes the second removal and the renewed depositing of a first product A),

i) Determination of a gripping surface pose of a gripping surface 63 for at least one of the goods C in the second source container 5c using a sensor system 62b after the second source container 5c has been made available at the second removal location 34b, and calculation of a gripping pose for the gripping unit 61 from the determined gripping surface pose by a Robot control 64 (see FIG. 5g - hatching of the second source container 5c symbolizes the previous determination of a gripping surface pose),

) Removal of the goods C mentioned from the second source container 5c and depositing the goods C mentioned in the second target container 33c by the gripping unit 61 of the robot 60 to an order line of the second order (see Fig. 5h - arrow symbolizes the first removal and the depositing of a first goods C),

k) Repetition of step I) if the order line for the second order again contains goods C of this type of goods, renewed removal of said goods C from the second source container 5c and placement of said goods C in the second target container 33c by the gripping unit 61 of the robot 60 (see Fig. 5h - hatching of the second source container 5b symbolizes the repeated determination of a gripping surface pose and see Fig. 5i - arrow symbolizes the second removal and the renewed placing of a second product C),

) Removal of the first source container (5a) after processing the order line for the first order from the first removal location (27a) and removal of the second source container (5c) after processing the order line for the second order from the second removal location (27b) independently of one another by the target container conveyor technology.

It should be noted at this point that the methods described for picking goods do not refer to the embodiment of the source container conveyor system described above

and/or target container conveyor technology are to be understood in a limited way. Rather, the source container conveyor technology can, for example, have first conveyor devices arranged separately from one another for transporting the source container 5 to the first delivery device 24a and second delivery device 24b. Likewise, the source container conveyor system can, for example, have second conveyor devices arranged separately from one another for transporting the source container 5 away from the first delivery device 24a and second delivery device 24b. In addition, the target container conveyor technology can, for example, have first conveyor devices arranged separately from one another for transporting the target container 33 to the first delivery device 34a and second delivery device 34b. The target container conveyor system can also have, for example, second conveyor devices arranged separately from one another for transporting the target container 33 away from the first delivery device 34a and second delivery device 34b.

In a first embodiment (see FIGS. 5a-5m), the method additionally includes step m):

Removal of the first target container (33a) after processing the order line for the first order from the first loading point (37a) and removal of the second target container (33c) after processing the order line for the second order from the second loading point (37b) independently of one another by a through the target container -Conveyor technology.

In a second embodiment (see FIGS. 6a-6e), the method additionally comprises steps m) to u). These steps are followed by the processing of an order line for the first order, which for example includes 2 pieces of goods A (Fig. 6a-6b) and the processing of an order line for the second order, which for example includes 1 piece of goods C (Fig. 6b-6c) ahead. This applies to steps b) to I), as described above.

The provision of the third source container 5c at the first removal location 27a and the provision of the fourth source container 5g at the second removal location 27b can essentially take place in parallel in time or at different times.

Method steps m) to u) relate to further processing of the first order with a next order line and/or second order with a next order line and another measure in the provision of the first target container 33a and/or second target container 33a.

The method can include the steps:

m) transport of a third source container 5h for processing the next order line for the first order to the first delivery device 24a with the first removal location 27a and/or transport of a fourth source container 5g for processing the next order line for the second order to the second delivery device 24b with the second removal location 27b the automatically operated source container conveyor system, with the source containers 5h, 5g storing different goods H, G (not shown) (see FIGS. 6a-6e),

n) Provision of the first target container 33a at the first loading station 37a (also) while the third source container 5h is being transported in order to process the next order line for the first order, and/or provision of the second target container 33c at the second loading station 37b (also) during the transport of the fourth source container 5g to process the next order line for the second order (see Fig. 6a-6e),

0) Determination of a gripping surface pose of a gripping surface 63 for at least one of the goods H in the third source container 5c using a sensor system 62a after the third source container 5c has been made available at the first removal location 27a, and calculation of a gripping pose for the gripping unit 61 from the determined gripping surface pose by a Robot control 64 (see Fig. 6c hatching of the third source container 5h symbolizes the determination of a gripping surface pose),

p) Removal of the named goods H from the third source container 5h and placement of the named goods H in the first target container 33a by the gripping unit 61 of the robot 60 to the next order line of the first order (see Fig. 6d - arrow symbolizes the removal and

discarding a good H),

q) Repetition of step o) if the next order line for the first order again contains goods H of this type of goods, renewed removal of said goods H from the third source container 5h and placement of said goods H in the first target container 33a by the gripping unit 61 of the robot 60 (not shown because the next order line includes a single item H),

r) and/or determining a gripping surface pose of a gripping surface 63 for at least one of the goods G in the fourth source container 5g using a sensor system 62b after the fourth source container 5g has been made available at the second removal location 27b, and calculating a gripping pose for the gripping unit 61 from the determined Gripping surface pose by a robot controller 64 (see Fig. 6d - hatching of the fourth source container 5g symbolizes the determination of a gripping surface pose),

s) and/or removal of the goods G mentioned from the fourth source container (5g) and depositing the goods G mentioned in the second target container 33c by the gripping unit 61 of the robot 60 to the next order line of the first order (see Fig. 6e - arrow symbolizes the Removal and storage of goods G),

t) Repeat step r) if the next order line for the second order again contains goods G of this type of goods, renewed removal of said goods G from fourth source container 59 and placement of said goods G in second target container 33c by gripping unit 61 of the robot 60 (not shown because the next order line includes a single item G),

u) Removal of the first target container 33a after processing the order lines for the first order from the first loading point 37a and/or removal of the second target container 33c after processing the order lines for the second order from the second loading point 37b independently of one another by a conveyor system operated by the target container (see Fig. 6e - target container 33a is just being transported away from the first loading station 34a).

Step n) is to be understood in such a way that the first target container 33a..33g and/or second target container 33a..33g remains on the first loading station 34a/second loading station 34b (stationary) until preferably all order lines go to the first Order and/or all order lines for the second order have been (completely) processed. The first source container 5a..5h and/or second source container 5a..5h are moved to the first removal location 24a and/or second removal location in a corresponding sequence depending on the first target container 33a..33g and/or second target container 33a..33g to be processed 24b provided.

Repeating what is described above, it should also be mentioned here again that it is an advantageous measure if step r) after the (complete) processing of the order line for the first order and during the movement of the robot 60 / the gripping unit 61 from the first target container 33a is carried out to the fourth source container 5g. The robot controller 64 receives the gripping surface pose of a gripping surface 63 for at least one of the goods G in the fourth source container 5g from the sensor system 62b, preferably shortly before the robot 60/the gripping unit 61 has reached the fourth source container 5g. Step o) is carried out after the (complete) processing of the order line for the second order during the movement of the robot 60/gripping unit 61 from the second target container 33c to the third source container 5h. The robot controller 64 receives the gripping surface pose of a gripping surface 63 for at least one of the goods H in the third source container 5a from the sensor system 62a, preferably shortly before the robot 60/the gripping unit 61 has reached the third source container 5h.

In addition, it can be provided that the third source container 5h and / or fourth source container 59 after picking the goods H, G according to steps p) and q) and / or steps s) and t) independently in one Storage area (1) are stored back if goods H, G remain in the third source container 5h and/or fourth source container 5g after the goods have been removed.

36 / 80

7 shows a possible combination of the above-described picking station 2 with a robot 60 for automatic picking and a picking station 2' with manual picking by an operator. Such a picking station 2' with manual picking is described in WO 2018/006112 A1. At this time, the same structure of the source container serving device 69 and the same structure of the destination container serving device 70 can be used. Serving device 69 preferably has a single picking location for a source container and serving device 70 preferably has a single loading location for a destination container. In this regard, WO 2018/006112 A1 is made the subject of this disclosure. Such an embodiment makes it possible for those goods which can only be manipulated (picked) with difficulty or not at all by the robot 60/gripping unit 61 to be processed at the picking station 2' with manual picking. The source container conveyor technology of the picking station 2 is connected to the delivery device 69 in terms of conveyor technology, and the target container conveyor technology of the picking station 2 is connected to the delivery device 70 in terms of conveyor technology. Thus, the source containers containing such goods can be provided at the serving device 69 . The target containers, which are loaded with such goods, can be made available at the service device 70 .

8 and 9 now show an example picking station 2a with a fully automated robot system, which includes a portal robot 60a, in an oblique view, with FIG. 8 showing the picking station 2a at an angle from the front and FIG shows behind. 10 and 11 show the portal robot 60a from FIGS. 8 and 9 with the gripping unit 61 extended downwards, also in an oblique view. FIG. 10 shows the gantry robot 60a at an angle from the front and FIG. 11 at an angle from the rear. This portal robot 60a can be used at the picking station 2 described above. This portal robot 60a can also be used to carry out the method described above for the fully automated picking of various goods from source containers 5a..5h to target containers 33a..33g.

The picking station 2a comprises two removal stations 27a, 27b, which are part of a conveyor device 12 or can be connected to it, and two loading stations 37a, 37b, which are part of a conveyor device 13 or can be connected to it. In this example, a source container 5a is arranged on the removal location 27a. The removal place 27b is empty in this example, but a source container 5b could of course be arranged on it. The loading places 37a, 37b are also empty in this example, but target containers 33a, 33b could be positioned thereon.

In the example shown, the picking station 2a comprises two removal locations 27a, 27b and two loading locations 37a, 37b. However, it would also be conceivable for a different number of removal locations 27a, 27b and loading locations 37a, 37b to be provided, for example only one removal location 27a and one loading location 37a or more than two removal locations 27a, 27b and loading locations 37a, 37b. It is also conceivable that the goods A..H to be picked are provided directly (i.e. without source containers 5a, 5b and destination containers 33a, 33b at the removal locations 27a, 27b and loading locations 37a, 37b.

The conveyor device 12 is part of a source container conveyor system for the automated transport of source containers 5a, 5b. Furthermore, the conveyor device 13 is part of a target container conveyor system for the automated transport of target containers 33a, 33b. The source container conveyor system and/or the target container conveyor system can in particular be designed as shown in one of the preceding figures. Accordingly, the source container conveyor system can have a first delivery device 24a, which includes the first removal location 27a, and an optional second delivery device 24b, which includes the second removal location 27b. The target container conveyor system can also have a first delivery device 34a, which includes the first loading station 37a, and a second delivery device 34b, which includes the second loading station 37b.

The source container conveyor technology for the automated transport of source containers 5a,

5b and/or the target container conveyor technology for the automated transport of target containers 33a, 33b can be designed in accordance with the embodiments described above. The storage tray 66a and/or storage tray 66b and/or storage tray 66c and/or storage tray 66d described above can also be present.

The portal robot 60a includes a base frame that includes four vertical posts 71 in this example. The base frame could also have longitudinal members (running in the x-direction) and/or cross members (running in the y-direction) connected to the vertical uprights 71 . It would also be conceivable for the base frame to have several side walls instead of the vertical posts 71 or in addition to them.

In this example, the gantry robot 60a also includes a first gantry carriage 74, which is movably mounted relative to the vertical uprights 71 of the base frame and can be moved horizontally in a first direction x via a first drive device 72 along a first guide arrangement 73. In addition, the gantry robot 60a includes a first Portal slide 74 slidably mounted and via a second drive device 75 along a second guide assembly 76 in a transverse to the first direction x, second direction y horizontally movable second portal carriage 77 third drive device 78 along a third guide arrangement 79 in a third direction z vertically movable third gantry carriage 80. In addition, the gantry robot 60a comprises a coupled to the third gantry carriage 80 and a first rotation gripper unit 61 rotatably mounted on axis Da1 and movable via a fourth drive device 81.

Specifically, the gantry robot 60a comprises a gantry arm 82 that can be moved via the fourth drive device 81 and is rotatably mounted on the third gantry slide 80 about a first, vertical axis of rotation Da1. The gripping unit 61 is rotatably mounted on the portal arm 82 about a second, horizontal axis of rotation Da2 and can be moved via a fifth drive device 83 . Accordingly, the gripping unit 61 can be rotated both about the vertical axis of rotation Da1 and about the horizontal axis of rotation Da2. The gripping unit 61 can therefore be moved particularly well into an advantageous gripping pose, for example if the goods A..H to be gripped are formed by a box lying at an angle in a swelling container or if the gripping unit 61 is not (rotationally) symmetrical when viewed from below, as is the case with the portal robot 60a shown. Even if a rotation about two axes of rotation Da1, Da2 is advantageous, it would of course also be conceivable for the gripping unit 61 to be rotated only about a vertical axis of rotation Da1 or only about a horizontal axis of rotation Da2.

In this example, the gantry robot 60a also specifically includes a first x-guide rail 84a, which is arranged on a first x-carrier 85a, and a second x-guide rail 84b, which is arranged on a second x-carrier 85b. The first x-guide carriage 86a of the first portal carriage 74 is movably mounted on the first x-guide rail 84a, and the second x-guide carriage 86b of the first gantry carriage 74 is movably mounted on the second x-guide rail 84b. The first x guide rail 84a, the first x guide carriage 86a, the second x guide rail 84b and the second x guide carriage 86b form the first guide arrangement 73 in this example.

According to the embodiment shown in FIGS. 8 to 11, the first drive device 72 comprises an x-traction drive connected to the first portal carriage 74, which in this example has an endlessly circulating first x-traction 87a and an endlessly circulating second x-traction 87b. The first x-traction means 87a and the second x-traction means 87b are each guided around a deflection wheel and a drive wheel (not shown), which are arranged in first wheel housings 88a..88d at the ends of the x-beams 85a, 85b. One of the drive wheels is coupled to an electric x-servomotor 89 and the two drive wheels of the x-traction mechanism are coupled via a coupling shaft 90 in this example. However, it would also be conceivable for the x-traction means 87a, 87b to be driven via separate (and electronically coupled) x-servomotors 89. The coupling shaft 90 can then be omitted.

[00249] By rotating the drive wheel clockwise or counterclockwise

38 / 80

The first portal carriage 74 (and thus also the second portal carriage 77 and the third portal carriage 80) is positioned horizontally in x relative to the removal locations 27a, 27b and to the source container 5a, 5b and relative to the loading locations 37a, 37b and to the target container 33a, 33b - direction moved.

In this example, the gantry robot 60a also includes a first y-guide rail 91a and a second y-guide rail 91b, which are arranged on a y-beam 92. The y guide carriage 93 of the second portal carriage 77 is slidably mounted on the first y guide rail 91a and the second y guide rail 91b. In this example, the first y-guide rail 91a, the second y-guide rail 91b and the y-guide carriage 93 form the second guide arrangement 76.

According to the embodiment shown in FIGS. 8 to 11, the second drive device 75 comprises a y-traction mechanism connected to the second portal carriage 77, which in this example has a y-traction mechanism 94 that also runs endlessly. The first y-pulling means 94 is in turn guided around a deflection wheel and a drive wheel (not shown), which are arranged in second wheel housings 95a, 95b at the ends of the y-beam 92. The drive wheel is coupled to an electric y-servomotor 96 .

By rotating the drive wheel clockwise or counterclockwise, the second portal slide 77 (and thus also the third portal slide 80) is moved relative to the removal locations 27a, 27b and to the source container 5a, 5b and relative to the loading locations 37a, 37b and to the Target container 33a, 33b moves horizontally in the y-direction.

The portal robot 60a also includes three base plates 97a..97c, which are mounted such that they can be displaced relative to one another in the z direction. In this example, four z guide rails 98a..98d are arranged on the second base plate 97b. The guide rails 98a, 98b are arranged on the front side of the second base plate 97b, and the other two guide rails 98c, 98d are respectively arranged behind the guide rails 98a, 98b on the rear side of the second base plate 97b. The guide rails 98a, 98b on the back of the second base plate 97b are slidably mounted in z guide carriages 99a, which are mounted on the first base plate 97a (note: in Figs. 8 to 11 only one z guide carriage 99a of the two z carriage visible). Two further z guide carriages 100a, 100b are mounted on the third base plate 98c and are slidably mounted on the guide rails 98a, 98b.

The first base plate 97a and the z guide carriages 99a are thus encompassed by the second portal carriage 77 . The second base plate 97b and the third base plate 97c, the guide rails 98a..98d and the z guide carriages 100a, 100b are part of the third portal slide 80.

According to the embodiment shown in FIGS. 8 to 11, the third drive device 78 comprises a toothed wheel (not shown) in a toothed wheel housing 101. The toothed wheel is connected to a shaft of an electric z-actuator motor 102 and meshes with a toothed rack 103, mounted on the back of the second base plate 97b. This allows the second base plate 97b to be moved relative to the first base plate 97a. A first deflection wheel 104 is rotatably mounted on the second base plate 97b in the upper region and a second deflection wheel 105 is rotatably mounted in the lower region, around which a z-traction means 106 is guided. The z-traction means 106 is connected to the first base plate 97a and to the third base plate 97c. When the second base plate 97b moves relative to the first base plate 97a, the third base plate 97c is also moved relative to that of the second base plate 97b, although the z-traction means 106 itself is not driven by a motor. Overall, this results in a double telescope.

By rotating said gear wheel clockwise or counterclockwise, the third portal carriage 80 is thus moved vertically in z- direction moved.

8 and 9 show the third portal slide 80 in its upper rest position. 10 and 11 show a view in which the third portal slide 80 and thus the moving

39 / 80

bare gripping unit 61 are extended downwards.

The gantry robot 60a can include a path measuring device, not shown, by means of which the adjustment movements of the first gantry carriage 74, the second gantry carriage 77 and the third gantry carriage 80 are detected. You can make use of the measuring method of absolute and incremental path measurement.

12a now shows a detailed view of the portal arm 82 with the gripping unit 61 arranged in the lower area obliquely from the front. 12b shows the portal arm 82 with the gripping unit 61 arranged in the lower area, obliquely from behind.

FIG. 13a also shows a detailed view of the portal arm 82 with the gripping unit 61 arranged in the lower area from the left-hand side, and FIG. 13b from the right-hand side. The gripping unit 61 is pivoted backwards by 45° about the horizontal axis of rotation Da2. A pivoting of the gripping unit 61 by 45° to the front is also shown with dashed lines. A pivoting angle of 45° is not to be understood as limiting, rather the gripping unit 61 can also be pivoted by a different pivoting angle about the horizontal axis of rotation Da2.

According to the embodiment shown in Figs. 8 to 13b, the fourth drive device 81 comprises a first rotary servomotor 107, which transmits a rotary movement to the portal arm 82 via a gear (not shown) in the first gear housing 108 and thus a relative rotation of the Portal arms 82 allows relative to the removal locations 27a, 27b and the source container 5a, 5b and relative to the loading locations 37a, 37b and the target container 33a, 33b. The possible angle of rotation is 360° in the example shown, and in particular the portal arm 82 can be rotated endlessly. However, it would also be conceivable for the angle of rotation of the portal arm 82 to be limited to smaller angles of rotation.

According to the embodiment shown in FIGS. 8 to 13b, the fifth drive device 83 comprises a second rotary servomotor 109, which transmits a rotary movement to the gripping unit 61 and thus enables a relative rotation of the gripping unit 61 relative to the removal locations 27a, 27b and Allows source container 5a, 5b and relative to the loading bays 37a, 37b and the target container 33a, 33b. In concrete terms, the rotational movement is transmitted from a first belt wheel 110 via a first belt 111 to a second belt wheel 112, to the shaft 113, from the shaft to a (bevel) gear (not shown), to two third belt wheels 114a, 114b, to two second ones belts 115a, 115b and finally to two fourth pulleys 116a, 116b. In the example shown, the possible swivel angle is +45°. However, it would also be conceivable for the maximum angle of rotation of the gripping unit 61 to be less than +45° or greater than +45°.

The gantry robot 60a can also include an angle measuring device, not shown, by means of which the adjustment movements of the gantry arm 82 and the gripping unit 61 are recorded. The measuring method of absolute and incremental angle measurement can be used here.

12a and 12b in particular that the gripping unit 61 in this example comprises three vacuum suction pads 117 which are connected to a vacuum generator (not shown) via fluid lines, in particular air hoses 118 . It proves to be advantageous if the air hoses 118 (fluid lines) are accommodated in an internal (integrally designed) line-receiving channel, not shown in detail, running in the longitudinal direction of the portal arm 82 . On the other hand, air ducts (fluid lines) can be worked out in the portal arm 82, for example there are bores in the portal arm which form the air ducts.

In other words, the fluid lines are integral with the portal arm 82 . This in turn favors the removal of a product from a source container 5a or the placement of a product in a target container 33. The portal arm 82 can move unhindered and particularly close to a container wall and dip into the source container 5a or target container 33, as shown in Fig. 14.

40 / 80

Because of the redundancy of the vacuum suction pads 117, goods A..H can be gripped in this way with a particularly low error rate. That is, a number of failed handlings of goods A..H in relation to a total number of handlings of these goods A..H is small.

Specifically, the vacuum suction pads 117 are arranged in a triangle and form a gripping plane, whereby goods A..H in particular that have a flat boundary surface or several such boundary surfaces, such as boxes, can be gripped well.

Advantageously, the portal arm 82 includes a flat, vertical boundary surface 119 which is aligned parallel to one of the sides a of that triangle at whose corner points the centers of the vacuum suction pads 117 lie. In particular, the portal arm 82, as shown in FIGS. 8 to 13a, can have a round (circular) cross section which is flattened in the region of the vertical boundary surface 119 mentioned. However, it would also be conceivable for the portal arm 82 to have a polygonal cross section (in particular a rectangular cross section or a triangular cross section). Said vertical boundary surface 119 is then formed by a side surface of a polygonal prism.

Due to the at least one vertical boundary surface 119 of the portal arm 82 aligned to one of the sides of the triangle, it can be immersed particularly close to a container wall in a source container 5a or target container 33 in order to grip goods A..H, see above as shown by way of example in FIG. 14 for product A.

Advantageously, the flat, vertical boundary surface 119 of the portal arm 82 up to the lower end of the gripping unit 61 is greater (longer) than 1.1 times the container height hB of the source container 5a and/or the target container 33, such as that in connection with 14 is shown. That means it applies:

Immersion height ht > 1.1 times the tank height hB.

In the example shown, the portal arm 82 has a vertical, flat boundary surface 119 (side wall), which is set back from a maximum cross-sectional contour of the portal arm 82 . However, it would also be conceivable for the (entire) portal arm 82 to have a prismatic outer contour.

As can be seen in Fig. 14, it can also prove advantageous if a diameter of the gripping unit 61, regardless of the number of vacuum suction grippers 117 used, is not or not significantly larger than a diameter of the portal arm 82.

It is noted at this point that the portal arm 82 or the gripping unit 61 are not rotationally symmetrical when viewed from below, which is why it is particularly advantageous for the gripping unit 61 to be rotatable about the vertical axis of rotation Da1. If, on the other hand, the portal arm 82 and the gripping unit 61 are rotationally symmetrical when viewed from below, then the ability of the gripping unit 61 to rotate about the vertical axis of rotation Da1 can also be omitted under certain circumstances without any significant disadvantage.

It is also advantageous if the gantry robot 60a has a gripper receptacle 120 which is mounted on the gantry arm 82 so as to be rotatable about the second, horizontal axis of rotation Da2 and on which the gripping unit 61 is fastened. The gripper receptacle 120 allows gripping units 61 of different types to be attached to the gantry robot 60a, with the gripping units 61 being adapted to different gripping tasks. For example, in addition to gripping units 61 with vacuum suction grippers 117, mechanical gripping elements (e.g. a robot hand or gripping tongs) can also be arranged on the gripping unit 61. In addition, a gripping unit 61 is not limited to three vacuum suction pads 117 arranged in a triangle, but the gripping unit 61 may have more or less than three vacuum suction pads 117, and the vacuum suction pads 117 may be geometrically arranged differently.

In a further advantageous embodiment variant of the picking station 2a, this comprises at least one container drive - for rotating the at least one removal station 27a, 27b (including a

41/80

provided source containers 5a, 5b) and the at least one loading station 37a, 37b (including a target container 33a, 33b provided thereon) relative to the base frame 71 of the portal robot 60a about a vertical axis of rotation and/or

- for tilting the at least one removal location 27a, 27b (including a source container 5a, 5b provided thereon) and the at least one loading location 37a, 37b (including a target container 33a, 33b provided on it) relative to the base frame 71 of the portal robot 60a about a horizontal axis of rotation.

As a result, the gripping unit 61 can also be moved into an advantageous gripping pose for gripping goods A..H, but by rotating the source container 5a, 5b and/or target container 33a, 33b relative to the portal robot 60a. If the source container 5a, 5b and the target container 33a, 33b can be rotated about a vertical axis of rotation, then the gripping unit 61 does not need to be mounted so that it can rotate about a vertical axis of rotation Da2 relative to the third portal slide 80. Likewise, the gripping unit 61 does not need to be mounted such that it can rotate about a horizontal axis of rotation Da1 relative to the third portal carriage 80 if the source container 5a, 5b and the target container 33a, 33b can be tilted about a horizontal axis of rotation.

In an advantageous embodiment variant, the fully automated robot system with the portal robot 60a comprises a sensor system 62a, 62b, in particular a camera system, at least for detecting the goods A..H in the first source container 5a and optionally in the second source container 5b, provided a second delivery device 24b is provided, as well as a robot controller 64, which is connected to the sensor system 62a, 62b and controls the robot 60 with the gripping unit 61. In this way, the picking process can run fully automatically. In particular, the proposed measures also make it possible to correct any errors that may occur during order picking.

[00278] As a result of the measures presented, the gripping unit 61 can be moved particularly well into an advantageous gripping pose. In particular, the portal arm 82 can be moved in a vertical direction onto a bottom of a source container 5a, 5b or target container 37a, 37b. An optimal gripping pose can be achieved by maintaining the gantry arm 82 in its vertical position while the gripping unit 61 pivots relative to the gantry arm 82 . The portal arm 82 and the gripping unit 61 can thus enter a source container 5a, 5b or target container 37a, 37b very close to a side wall, even if the portal arm 82 does not have a specially shaped boundary surface 119. Thus, goods A..H in the edge area can also be removed from a source container 5a, 5b, and goods A..H can be delivered in the edge area of a target container 37a, 37b.

Finally, it is also stated that the scope of protection is determined by the patent claims. However, the description and drawings should be used to interpret the claims. Individual features or combinations of features from the different exemplary embodiments shown and described can represent independent inventive solutions. The task on which the independent inventive solutions are based can be found in the description.

[00280] In particular, it is also stated that the devices shown can in reality also include more or fewer components than shown. In some cases, the devices shown or their components may also be shown not to scale and/or enlarged and/or reduced.

42 / 80

REFERENCE MARK LISTING

1 storage area

2.2a picking station

3 source tank distribution system

4 target container distribution system

5 source containers

6 storage rack

7 Regalgasse

8 storage space

9 warehouse control unit

10 conveyor

11 conveyor

12 conveyor

13 conveyor

14 conveyor

15 infeed and/or outfeed device

16 transfer device

17 guide track

18 transport device

19 buffer device

20 lifting device

21

22a, 22b funding

23 turning station

24a, 245 delivery device for first source container/second source container 25 conveyor device for transporting in source container 26 conveyor device for transporting away source container 27a, 27b removal point for first source container/second source container 28 transfer device

29 transfer device

30a, 30b funding

31 control unit

32 buffer device

33 target containers

34 Delivery device for first target container/second target container 35 Conveyor device for transporting target container

36 Conveyor device removal target container

37a, 37b loading place first target container/second target container 38 transfer device

39 transfer device

40 buffer device

41 Goods issue

42 conveyor

43 conveyor

44 sorting buffers

45 conveyor 46 conveyor 47 buffer space

48 sorting station

49

50 grants

51 distance

52a, 520 service level 53a, 53b service level

54 Conveyor 55 Funding

56 grants

57 grants

58 grants

59

60, 60a robots

61 gripping unit

62a, 62b sensor system

63 gripping surface

64 robot controller

65a, 650 sensor system 66a..66d storage plate 67a, 67b access opening

68 sensor system

69 Supply device source container 70 Supply device target container 71 (vertical stand) base frame

72 first drive device

73 first guide arrangement

74 first portal slide

75 second drive device

76 second guide arrangement

77 second portal slide

78 third drive device

79 third guide arrangement

80 third portal slide

81 fourth drive device

82 portal arm

83 fifth drive device

84a, 8450 x guide rail 85a, 850 x beam

86a, 86b x guide carriage 87a, 870 x traction means

88a..88d first wheel housing

44 / 80

89 x actuator

90 coupling shaft

91a, 91b y-guide rail 92 y-beam

93 Y carriage

94 y traction means

95a, 95b second wheel housing 96 y servomotor

97a..97c base plate 98a..98d Zz guide rail

99a z carriage 100a, 100b z carriage

101 gear case

102 z actuator

103 rack

104 first idler wheel

105 second deflection wheel 106 z-traction means

107 first rotation servomotor 108 gear housing

109 second rotation servomotor 110 first pulley

111 first strap

112 second pulley 113 shaft

114a, 114b third pulley 115a, 115b second pulley 116a, 116b fourth pulley

117 vacuum suction cups

118 air hose

119 vertical boundary surface of the portal arm 120 gripper mount

A..H goods

X first (horizontal) direction y second (horizontal) direction zZ third (vertical) direction Dal first axis of rotation

Da2 second axis of rotation

a triangle side

ht immersion height

hB tank height

Claims (27)

patent claims 1. Picking station (2a) for picking goods (A..H) from source containers (5a, 5b) into target containers (33a, 33b), with a fully automated robot system, at least one removal station (27a, 27b) at which a source container ( 5a, 5b) is provided, and at least one loading station (37a, 37b) at which a target container (33a, 33b) is provided, characterized in that the fully automated robot system has a portal robot (60a) which comprises - a base frame (71 ), - a first portal carriage (74) which is displaceably mounted relative to the base frame (71) and can be moved horizontally along a first guide arrangement (73) in a first direction (x) via a first drive device (72), - a second portal slide (77) which is displaceably mounted on the first portal slide (74) and can be moved horizontally via a second drive device (75) along a second guide arrangement (76) in a second direction (y) running transversely to the first direction (x), - a third portal slide (80) which is displaceably mounted on the second portal slide (77) and can be moved vertically along a third guide arrangement (79) in a third direction (z) via a third drive device (78), - a gantry arm (82) rotatably mounted on the third gantry slide (80) about a first, vertical axis of rotation (Da1) and movable via a fourth drive device (81), - a gripper mount (120) rotatably mounted on the portal arm (82) about a second, horizontal axis of rotation (Da2), and - A gripping unit (61) which is coupled to the third portal carriage (80) and is rotatably mounted about the first vertical axis of rotation (Da1) and can be moved via the fourth drive device (81) and is fastened to the gripper mount (120). 2. Picking station (2a) according to claim 1, characterized in that the portal arm (82) has a side wall that is set back compared to a maximum cross-sectional contour, which extends from the lower end towards the upper end and forms a substantially flat boundary surface (119). 3. Picking station (2a) according to claim 1 or 2, characterized in that the gripping unit (61) comprises a vacuum suction pad (117) which forms a gripping surface, or comprises a plurality of vacuum suction pads (117) which form a gripping surface. 4. Picking station (2a) according to claim 3, characterized in that the gripping unit (61) comprises three vacuum suction pads (117) arranged in a triangle, which form a gripping plane. 5. Picking station (2a) according to Claim 4, characterized in that at least one of the sides (a) of a triangle, at the corners of which are the centers of the vacuum suction pads (117), is essentially parallel to a flat, vertical boundary surface (119) of the portal arm (82) is aligned. 6. Picking station (2a) according to claim 4 or 5, characterized in that the vacuum suction pads (117) are connected to a vacuum generator via fluid lines, the fluid lines being integrally present in the portal arm (82). 7. Picking station (2a) according to claim 6, characterized in that the fluid lines are housed in a longitudinal direction of the portal arm (82) running internal line receiving channel. 8. picking station (2a) according to claim 6, characterized in that the fluid lines are worked out in the portal arm (82), wherein preferably in the portal arm (82) there are bores which form the fluid lines. 46 / 80 10 11. Austrian AT 523 873 B1 2022-03-15 Picking station (2a) according to one of Claims 1 to 8, characterized in that a source container conveyor system for the automated transport of source containers (5a, 5b) and a target container conveyor system for the automated transport of target containers (33a, 33b) are provided, wherein - the source container conveyor system has a first delivery device (24a) which comprises the at least one removal location (27a, 27b), and - The target container conveyor system has a first delivery device (34a) which comprises the at least one loading station (37a, 37b). Picking station (2a) according to one of Claims 1 to 9, characterized in that a source container conveyor system for the automated transport of source containers (5a, 5b) and a target container conveyor system for the automated transport of target containers (33a, 33b) are provided, wherein - the source container conveyor system has a first delivery device (24a) which includes a first removal location (27a), and a second delivery device (24b) which includes a second removal location (27b), and - The target container conveyor system has a first delivery device (34a) which includes a first loading station (37a), and a second delivery device (34b) which includes a second loading station (37b). Picking station (2a) according to claim 10, characterized in that the source container conveyor system - a first conveyor device (25) for transporting source containers (5a, 5b), - a second conveyor device (26) for transporting the source containers (5a, 5b) away from the first delivery device (24a) and second delivery device (24b), - A first transfer device (28) for transporting a first source container (5a) from the first conveyor device (25) to the first delivery device (24a), and - a second transfer device (29) for transporting a second source container (5b) from the first conveyor device (25) to the second delivery device (24b), includes, where - the first delivery device (24a) is conveyably connected to the first removal location (27a), at which the first source container (5a) is provided, by the first transfer device (28) to the first conveyor device (25), and - the second delivery device (24b) is connected to the second removal location (27b), at which the second source container (5b) is provided, by the second transfer device (29) with the first conveyor device (25), in terms of conveyor technology, and/or the target container conveyor technology - a first conveyor device (35) for transporting target containers (33a, 33b), - a second conveyor device (36) for transporting away the target containers (33a, 33b) from the first delivery device (34a) and second delivery device (34b), - A first transfer device (38) for transporting a first target container (33a) from the first conveyor device (35) to the first delivery device (34a), and - a second transfer device (39) for transporting a second target container (33b) from the first conveyor device (35) to the second delivery device (34b), includes, where - the first delivery device (34a) is connected to the first loading station (37a), at which the first target container (33a) is provided, by the first transfer device (38) with the first conveyor device (35), and - the second delivery device (34b) with the second loading station (37b), at which the second target container (33b) is provided, is connected to the first conveyor device (35) by the second transfer device (39), in terms of conveyor technology, whereby 47 / 80 12. 13. 14 15 16 17 18 19 Austrian AT 523 873 B1 2022-03-15 - the first delivery device (24a) with the first removal location (27a) and the second delivery device (24b) with the second removal location (27b) are arranged along the second conveyor device (26) for the removal of source containers (5a, 5b), - the first delivery device (34a) with the first loading station (37a) and the second delivery device (34b) with the second loading station (37b) are arranged along the second conveyor device (36) for the removal of target containers (33a, 33b), and wherein - the first delivery device (24a) with the first removal location (27a) and the first delivery device (34a) with the first loading location (37a) are opposite one another, - The second service device (24b) with the second removal station (27b) and the second service device (34b) with the second loading station (37b) are opposite one another, and wherein - The second conveyor device (26) for removing source containers (5a, 5b) and the second conveyor device (36) for removing target containers (33a, 33b) are arranged in parallel. Picking station according to Claim 11, characterized in that the first delivery device (24a) with the first removal location (27a) and the second delivery device (24b) with the second removal location (27b) on the second conveyor device (26) for the removal of source containers (5a, 5b) are formed. Picking station according to Claim 11 or 12, characterized in that the first delivery device (34a) with the first loading place (37a) and the second delivery device (34b) with the second loading place (37b) on the second conveyor device (36) for transporting away target containers ( 33a, 33b) are formed. Picking station according to one of claims 11 to 13, characterized in that the second conveyor device (26) for removing source containers (5a, 5b) and the second conveyor device (36) for removing target containers (33a, 33b) at a distance (51) of maximum 400 mm and arranged in parallel. Picking station according to one of Claims 11 to 14, characterized in that the first delivery device (24a) with the first removal location (27a) and the first delivery device (34a) with the first loading location (37a) each have a delivery level (52a, 53a) on the same Form height level. Picking station according to one of Claims 11 to 14, characterized in that the second delivery device (24b) with the second removal location (27b) and the second delivery device (34b) with the second loading location (37b) each have a delivery level (52b, 53b) on the same Form height level. Picking station according to one of Claims 11 to 16, characterized in that between the first delivery device (24a) with the first removal location (27a) and the second delivery device (24b) with the second removal location (27b) there is a buffer device (32) with at least one buffer location is provided, on which a second source container (5b) can be buffered after picking. Picking station according to one of claims 11 to 17, characterized in that between the first delivery device (34a) with the first loading place (37a) and the second delivery device (34b) with the second loading place (37b) there is a buffer device (40) with at least one buffer place is provided, on which a second target container (33b) can be buffered after picking. Picking station according to one of Claims 11 to 18, characterized in that the second conveyor device (26) for removing source containers (5a, 5b) and the second conveyor device (36) for removing target containers (33a, 33b) via a third conveyor device (43 ) are conveyingly connected to source container (5a, 5b) and target 48 / 80 20 21 22 23 24 Austrian AT 523 873 B1 2022-03-15 to transport containers (33a, 33b) after picking on a common conveyor line. Picking station according to one of Claims 11 to 19, characterized in that - above the second conveyor device (26) for removing source containers (5a, 5b) and the second conveyor device (36) for removing target containers (33a, 33b) between the first delivery device ( 24a) with the first removal location (27a) and the first serving device (34a) with the first loading location (37a) a storage plate (66a) which has a first access opening (67a) above the first removal location (27a) and a second access opening (67b) above the first loading station (37a), and - Above the second conveyor device (36) for removing source containers (5a, 5b) and the second conveyor device for removing target containers (33a, 33b) between the second delivery device (24b) with the second removal location (27b) and the second delivery device (34b) with the second loading place (37b) a storage plate (66b) which has a first access opening (67a) above the first removal place (27b) and a second access opening (67b) above the first loading place (37b). Picking station according to one of Claims 11 to 20, characterized in that - above the second conveyor device (26) for transporting away bulk containers (5a, 5b) between the first delivery device (24a) with the first removal location (27a) and the second delivery device (24b ) with the second removal location (27b) a storage plate (66c), and - above the second conveyor device (26) for transporting away target containers (33a, 33b) between the first delivery device (34a) with the first loading place (37a) and the second delivery device (34b) with the second loading place (37b) a storage plate (66d) , are arranged. Picking station according to Claim 20 or 21, characterized in that the sensor system (62a, 62b; 65a, 65b; 68), in particular the camera system, also for detecting goods (A..C) which accidentally fell off the gripping unit (61). and lies on the shelf (66a..66d), and the robot controller (64) controls the gripping unit (61) in such a way that said goods (A..C) pick up from the shelf (66a..66d). and in the - first source container (5a), or - second source container (5b), or - first target container (33a), or - second target container (33b) discards. Picking station according to one of Claims 11 to 22, characterized in that the picking station (2) is connected to a sorting buffer (44) which is controlled by a control unit (31) and by means of which the target containers (33a, 33b) in the sorting buffer (36) are sorted into an order which is determined depending on the order in which the source containers (5a, 5b) are respectively made available at the first removal location (27a) and second removal location (27b). Picking station according to Claim 23, characterized in that the sorting buffer (44) has buffer locations (47) arranged one behind the other in a delivery direction on a first conveyor device (45) and sorting locations (48) arranged one behind the other in a return direction on a second conveyor device (46) and the sorting locations (48) has third conveyor devices (54) which connect to the buffer locations (47) in terms of conveyor technology, the first conveyor device (45) of the sorting buffer (44) to the first conveyor device (35) for transporting the target containers (33a, 33b) and to the second conveyor device 49 / 80 (46) of the sorting buffer (44) to the second conveyor device (36) for transporting away the target containers (33a, 33b), and wherein the first conveyor device (45) has at least one conveyor (55) for transporting the target containers (33a, 33b) and the second conveyor device (46) has at least one conveyor (56) for transporting the target containers (33a, 33b), and wherein the buffer locations (47) and the sorting locations (48) are assigned conveyors (57, 58) for transporting the target containers (33a, 33b), and the control unit (31) the conveyors (55, 56, 57, 58) optionally and in such a way controls that the target containers (33a, 33b) in the sorting buffer (44) are sorted into an order that depends on the order in which the source containers (5a, 5b) are provided at the first removal location (27a) and second removal location (27b). are determined, and that a first/second source container (5a, 5b) and a first/second target container (33a, 33b) each for an order approximately simultaneously at the first/second removal location (27a, 27b) and first/second loading location (37a, 37b) arrive. 25. Picking station (2a) according to one of Claims 1 to 24, characterized in that the fully automated robot system comprises a sensor system (62a, 62b), in particular a camera system, at least for detecting the goods (A..H) in the first source container (5a ) and optionally in the second source container (5b), if a second delivery device (24b) is provided, and a robot controller (64) which is connected to the sensor system (62a, 62b) and the robot (60) with the gripping unit (61) drives. 26. Picking station (2a) according to one of Claims 1 to 25, characterized by at least one container drive - for rotating the at least one removal location (27a, 27b) and the at least one loading location (37a, 37b) relative to the base frame (71) of the portal robot (60a) about a vertical axis of rotation and/or - for tilting the at least one removal station (27a, 27b) and the at least one loading station (37a, 37b) relative to the base frame (71) of the portal robot (60a) about a horizontal axis of rotation. 27. Picking station (2a) according to Claim 2, characterized by a source container (5a, 5b) arranged on the at least one removal location (27a, 27b) and/or a target container (33a, 33b) arranged on the at least one loading location (37a, 37b). ), wherein an immersion height (ht), measured from the upper end of said substantially planar, vertical boundary surface (119) of the portal arm (82) to the lower end of the gripping unit (61), is greater than the 1.1 times the container height (hB) of the source container (5a, 5b) and/or the target container (33a, 33b). 30 sheets of drawings